6,956 research outputs found
Exploiting Deep Semantics and Compositionality of Natural Language for Human-Robot-Interaction
We develop a natural language interface for human robot interaction that
implements reasoning about deep semantics in natural language. To realize the
required deep analysis, we employ methods from cognitive linguistics, namely
the modular and compositional framework of Embodied Construction Grammar (ECG)
[Feldman, 2009]. Using ECG, robots are able to solve fine-grained reference
resolution problems and other issues related to deep semantics and
compositionality of natural language. This also includes verbal interaction
with humans to clarify commands and queries that are too ambiguous to be
executed safely. We implement our NLU framework as a ROS package and present
proof-of-concept scenarios with different robots, as well as a survey on the
state of the art
Robust Spoken Language Understanding for House Service Robots
Service robotics has been growing significantly in thelast years, leading to several research results and to a numberof consumer products. One of the essential features of theserobotic platforms is represented by the ability of interactingwith users through natural language. Spoken commands canbe processed by a Spoken Language Understanding chain, inorder to obtain the desired behavior of the robot. The entrypoint of such a process is represented by an Automatic SpeechRecognition (ASR) module, that provides a list of transcriptionsfor a given spoken utterance. Although several well-performingASR engines are available off-the-shelf, they operate in a generalpurpose setting. Hence, they may be not well suited in therecognition of utterances given to robots in specific domains. Inthis work, we propose a practical yet robust strategy to re-ranklists of transcriptions. This approach improves the quality of ASRsystems in situated scenarios, i.e., the transcription of roboticcommands. The proposed method relies upon evidences derivedby a semantic grammar with semantic actions, designed tomodel typical commands expressed in scenarios that are specificto human service robotics. The outcomes obtained throughan experimental evaluation show that the approach is able toeffectively outperform the ASR baseline, obtained by selectingthe first transcription suggested by the AS
- …