@inproceedings{Dhanabalachandran1706526,
   author = {Dhanabalachandran, Kaviya and Hedblom, Maria M. and Beetz, Michael},
   booktitle = {Proceedings of the Joint Ontology Workshops 2022, Episode VIII: The Svear Sommar of Ontology : },
   institution = {Jönköping University, Jönköping AI Lab (JAIL)},
   institution = {Institute of Artificial Intelligence, University of Bremen, Germany},
   institution = {Institute of Artificial Intelligence, University of Bremen, Germany},
   publisher = {CEUR-WS},
   title = {A balancing act : Ordering algorithm and image-schematic action descriptors for stacking objects by household robots},
   series = {CEUR Workshop Proceedings},
   keywords = {object stacking, cognitive robotics, affordances, algorithms, action representation},
   abstract = {Optimising object order in stacking problems remains a hard problem for cognitive robotics research. In this paper, we continue our work on using the spatiotemporal relationships called image schemas to represent affordance spaces founded on object properties. Based on object properties, we introduce a stacking-order algorithm and describe the action descriptors using an image-schematic event segmentation format by describing a small subset using the Image Schema Logic ISL𝐹𝑂𝐿. },
   URL = {http://ceur-ws.org/Vol-3249/paper4-RobOntics.pdf},
   year = {2022}
}