KR2023Proceedings of the 20th International Conference on Principles of Knowledge Representation and ReasoningProceedings of the 20th International Conference on Principles of Knowledge Representation and Reasoning

Rhodes, Greece. September 2-8, 2023.

Edited by

ISSN: 2334-1033
ISBN: 978-1-956792-02-7

Sponsored by
Published by

Copyright © 2023 International Joint Conferences on Artificial Intelligence Organization

Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations

  1. Benjamin Alt(ArtiMinds Robotics, University of Bremen)
  2. Franklin Kenghagho Kenfack(University of Bremen)
  3. Andrei Haidu(University of Bremen)
  4. Darko Katic(ArtiMinds Robotics)
  5. Rainer Jäkel(ArtiMinds Robotics)
  6. Michael Beetz(University of Bremen)


  1. Applications of KR in robotics
  2. Cognitive robot architectures
  3. KR and cognitive robotics
  4. Development, deployment, and evaluation of KR systems to solve real-world problems


Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge representations and reasoning (KR&R) algorithms, but also methods for humans to instruct robots what tasks to perform and how to perform them. In this paper, we present a system for automatically generating executable robot control programs from human task demonstrations in virtual reality (VR). We leverage common-sense knowledge and game engine-based physics to semantically interpret human VR demonstrations, as well as an expressive and general task representation and automatic path planning and code generation, embedded into a state-of-the-art cognitive architecture. We demonstrate our approach in the context of force-sensitive fetch-and-place for a robotic shopping assistant. The source code is available at