{"id":"https://openalex.org/W4415651462","doi":"https://doi.org/10.3389/frobt.2025.1682031","title":"Everything robots need to know about cooking actions: creating actionable knowledge graphs to support robotic meal preparation","display_name":"Everything robots need to know about cooking actions: creating actionable knowledge graphs to support robotic meal preparation","publication_year":2025,"publication_date":"2025-10-29","ids":{"openalex":"https://openalex.org/W4415651462","doi":"https://doi.org/10.3389/frobt.2025.1682031","pmid":"https://pubmed.ncbi.nlm.nih.gov/41235095"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1682031","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1682031","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1682031/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1682031/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026685966","display_name":"Michaela K\u00fcmpel","orcid":"https://orcid.org/0000-0002-0408-3953"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Michaela K\u00fcmpel","raw_affiliation_strings":["Institute for Artificial Intelligence, Bremen University, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence, Bremen University, Bremen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120170175","display_name":"Manuel Scheibl","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]},{"id":"https://openalex.org/I203082224","display_name":"Hochschule Bielefeld","ror":"https://ror.org/00edvg943","country_code":"DE","type":"education","lineage":["https://openalex.org/I203082224"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Scheibl","raw_affiliation_strings":["Medical Assistance Systems Group, Medical School OWL, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Assistance Systems Group, Medical School OWL, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455","https://openalex.org/I203082224"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091237529","display_name":"Jan-Philipp T\u00f6berg","orcid":"https://orcid.org/0000-0003-0434-6781"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan-Philipp T\u00f6berg","raw_affiliation_strings":["Center for Cognitive Interaction Technology, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Interaction Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009383229","display_name":"Vanessa Hassouna","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vanessa Hassouna","raw_affiliation_strings":["Institute for Artificial Intelligence, Bremen University, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence, Bremen University, Bremen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056086147","display_name":"Philipp Cimiano","orcid":"https://orcid.org/0000-0002-4771-441X"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Cimiano","raw_affiliation_strings":["Center for Cognitive Interaction Technology, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Interaction Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067961454","display_name":"Britta Wrede","orcid":"https://orcid.org/0000-0003-1424-472X"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]},{"id":"https://openalex.org/I203082224","display_name":"Hochschule Bielefeld","ror":"https://ror.org/00edvg943","country_code":"DE","type":"education","lineage":["https://openalex.org/I203082224"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Britta Wrede","raw_affiliation_strings":["Center for Cognitive Interaction Technology, Bielefeld University, Bielefeld, Germany","Medical Assistance Systems Group, Medical School OWL, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Interaction Technology, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Medical Assistance Systems Group, Medical School OWL, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455","https://openalex.org/I203082224"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Beetz","raw_affiliation_strings":["Institute for Artificial Intelligence, Bremen University, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence, Bremen University, Bremen, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026685966"],"corresponding_institution_ids":[],"apc_list":{"value":2125,"currency":"USD","value_usd":2125},"apc_paid":{"value":2125,"currency":"USD","value_usd":2125},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28918472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1682031","last_page":"1682031"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7964000105857849,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7964000105857849,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.041099999099969864,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.03680000081658363,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/recipe","display_name":"Recipe","score":0.683899998664856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6572999954223633},{"id":"https://openalex.org/keywords/need-to-know","display_name":"Need to know","score":0.6553000211715698},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.6498000025749207},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5242999792098999},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42809998989105225},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.40230000019073486}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8392000198364258},{"id":"https://openalex.org/C2778671685","wikidata":"https://www.wikidata.org/wiki/Q219239","display_name":"Recipe","level":2,"score":0.683899998664856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6572999954223633},{"id":"https://openalex.org/C2778519782","wikidata":"https://www.wikidata.org/wiki/Q1974060","display_name":"Need to know","level":2,"score":0.6553000211715698},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.6498000025749207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5602999925613403},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5263000130653381},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5242999792098999},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42809998989105225},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.40230000019073486},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.39570000767707825},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.32420000433921814},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31679999828338623},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.28529998660087585},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.2745000123977661},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2538999915122986}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2025.1682031","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1682031","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1682031/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41235095","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41235095","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:doaj.org/article:9bedc9933f294b478d0ec5dfb787a467","is_oa":true,"landing_page_url":"https://doaj.org/article/9bedc9933f294b478d0ec5dfb787a467","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 12 (2025)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:11413387","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12605030","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1682031","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1682031","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1682031/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4415651462.pdf"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W158164316","https://openalex.org/W2081580037","https://openalex.org/W2115792525","https://openalex.org/W2252269235","https://openalex.org/W2796193014","https://openalex.org/W2960416371","https://openalex.org/W4226102173","https://openalex.org/W4285044929","https://openalex.org/W4392292205","https://openalex.org/W4401306886","https://openalex.org/W4401306979","https://openalex.org/W4403021429","https://openalex.org/W4404781027","https://openalex.org/W4408226114"],"related_works":[],"abstract_inverted_index":{"This":[0,169],"paper":[1],"addresses":[2],"the":[3,75,121,147],"challenge":[4],"of":[5,39,118,149,179,184],"enabling":[6],"robots":[7],"to":[8,31,106,131,155],"autonomously":[9],"prepare":[10],"meals":[11],"by":[12,108],"bridging":[13],"natural":[14],"language":[15],"recipe":[16,33],"instructions":[17,34],"and":[18,51,53,55,87,103,112],"robotic":[19,40,157,176],"action":[20,101,137],"execution.":[21,73],"We":[22],"propose":[23],"a":[24,66,116,126,140,165,172,181],"novel":[25],"methodology":[26],"leveraging":[27],"Actionable":[28],"Knowledge":[29],"Graphs":[30],"map":[32],"into":[35,61],"six":[36],"core":[37],"categories":[38],"manipulation":[41],"tasks,":[42,158],"termed":[43],"Action":[44,62],"Cores":[45],"cutting,":[46],"pouring,":[47],"mixing,":[48],"preparing,":[49],"pick":[50],"place,":[52],"cook":[54],"cool.":[56],"Each":[57],"AC":[58],"is":[59],"subdivided":[60],"Groups":[63],"which":[64],"represent":[65],"specific":[67,156],"motion":[68],"parameterization":[69],"required":[70],"for":[71,174],"task":[72],"Using":[74],"Recipe1M":[76],"+":[77],"dataset":[78],"(Mar\u00edn":[79],"et":[80],"al.,":[81],"IEEE":[82],"Transactions":[83],"on":[84],"Pattern":[85],"Analysis":[86],"Machine":[88],"Intelligence,":[89],"2021,":[90],"43,":[91],"187-203),":[92],"encompassing":[93],"over":[94],"one":[95],"million":[96],"recipes,":[97],"we":[98,124],"systematically":[99],"analysed":[100],"verbs":[102,130],"matched":[104],"them":[105],"ACs":[107],"using":[109],"direct":[110],"matching":[111,129],"cosine":[113],"similarity,":[114],"achieving":[115],"coverage":[117],"76.5%.":[119],"For":[120],"unmatched":[122],"verbs,":[123],"employ":[125],"neuro-symbolic":[127],"approach,":[128],"existing":[132],"AGs":[133],"or":[134],"generating":[135],"new":[136],"cores":[138],"utilizing":[139],"Large":[141],"Language":[142],"Model":[143],"Our":[144],"findings":[145],"highlight":[146],"versatility":[148],"AKGs":[150],"in":[151,164],"adapting":[152],"general":[153],"plans":[154],"validated":[159],"through":[160],"an":[161],"experimental":[162],"application":[163],"meal":[166],"preparation":[167],"scenario.":[168],"work":[170],"sets":[171],"foundation":[173],"adaptive":[175],"systems":[177],"capable":[178],"performing":[180],"wide":[182],"array":[183],"complex":[185],"culinary":[186],"tasks":[187],"with":[188],"minimal":[189],"human":[190],"intervention.":[191]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-29T00:00:00"}