An Annotated Corpus of Reference Resolution for Interpreting Common Grounding

Common grounding is the process of creating, repairing and updating mutual understandings, which is a fundamental aspect of natural language conversation. However, interpreting the process of common grounding is a challenging task, especially under continuous and partially-observable context where complex ambiguity, uncertainty, partial understandings and misunderstandings are introduced. Interpretation becomes even more challenging when we deal with dialogue systems which still have limited capability of natural language understanding and generation. To address this problem, we consider reference resolution as the central subtask of common grounding and propose a new resource to study its intermediate process. Based on a simple and general annotation schema, we collected a total of 40,172 referring expressions in 5,191 dialogues curated from an existing corpus, along with multiple judgements of referent interpretations. We show that our annotation is highly reliable, captures the complexity of common grounding through a natural degree of reasonable disagreements, and allows for more detailed and quantitative analyses of common grounding strategies. Finally, we demonstrate the advantages of our annotation for interpreting, analyzing and improving common grounding in baseline dialogue systems.Comment: 9 pages, 7 figures, 6 tables, Accepted by AAAI 202

Exploring Natural User Abstractions For Shared Perceptual Manipulator Task Modeling & Recovery

State-of-the-art domestic robot assistants are essentially autonomous mobile manipulators capable of exerting human-scale precision grasps. To maximize utility and economy, non-technical end-users would need to be nearly as efficient as trained roboticists in control and collaboration of manipulation task behaviors. However, it remains a significant challenge given that many WIMP-style tools require superficial proficiency in robotics, 3D graphics, and computer science for rapid task modeling and recovery. But research on robot-centric collaboration has garnered momentum in recent years; robots are now planning in partially observable environments that maintain geometries and semantic maps, presenting opportunities for non-experts to cooperatively control task behavior with autonomous-planning agents exploiting the knowledge. However, as autonomous systems are not immune to errors under perceptual difficulty, a human-in-the-loop is needed to bias autonomous-planning towards recovery conditions that resume the task and avoid similar errors. In this work, we explore interactive techniques allowing non-technical users to model task behaviors and perceive cooperatively with a service robot under robot-centric collaboration. We evaluate stylus and touch modalities that users can intuitively and effectively convey natural abstractions of high-level tasks, semantic revisions, and geometries about the world. Experiments are conducted with \u27pick-and-place\u27 tasks in an ideal \u27Blocks World\u27 environment using a Kinova JACO six degree-of-freedom manipulator. Possibilities for the architecture and interface are demonstrated with the following features; (1) Semantic \u27Object\u27 and \u27Location\u27 grounding that describe function and ambiguous geometries (2) Task specification with an unordered list of goal predicates, and (3) Guiding task recovery with implied scene geometries and trajectory via symmetry cues and configuration space abstraction. Empirical results from four user studies show our interface was much preferred than the control condition, demonstrating high learnability and ease-of-use that enable our non-technical participants to model complex tasks, provide effective recovery assistance, and teleoperative control

NLSC: Unrestricted Natural Language-based Service Composition through Sentence Embeddings

Current approaches for service composition (assemblies of atomic services) require developers to use: (a) domain-specific semantics to formalize services that restrict the vocabulary for their descriptions, and (b) translation mechanisms for service retrieval to convert unstructured user requests to strongly-typed semantic representations. In our work, we argue that effort to developing service descriptions, request translations, and matching mechanisms could be reduced using unrestricted natural language; allowing both: (1) end-users to intuitively express their needs using natural language, and (2) service developers to develop services without relying on syntactic/semantic description languages. Although there are some natural language-based service composition approaches, they restrict service retrieval to syntactic/semantic matching. With recent developments in Machine learning and Natural Language Processing, we motivate the use of Sentence Embeddings by leveraging richer semantic representations of sentences for service description, matching and retrieval. Experimental results show that service composition development effort may be reduced by more than 44\% while keeping a high precision/recall when matching high-level user requests with low-level service method invocations.Comment: This paper will appear on SCC'19 (IEEE International Conference on Services Computing) on July 1