5,910 research outputs found
Knowledge Representation for Robots through Human-Robot Interaction
The representation of the knowledge needed by a robot to perform complex
tasks is restricted by the limitations of perception. One possible way of
overcoming this situation and designing "knowledgeable" robots is to rely on
the interaction with the user. We propose a multi-modal interaction framework
that allows to effectively acquire knowledge about the environment where the
robot operates. In particular, in this paper we present a rich representation
framework that can be automatically built from the metric map annotated with
the indications provided by the user. Such a representation, allows then the
robot to ground complex referential expressions for motion commands and to
devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP
201
Conceptual spatial representations for indoor mobile robots
We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following ďŹndings
in cognitive psychology, our model is composed of layers representing maps at diďŹerent levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system
Recommended from our members
Proceedings ICPW'07: 2nd International Conference on the Pragmatic Web, 22-23 Oct. 2007, Tilburg: NL
Proceedings ICPW'07: 2nd International Conference on the Pragmatic Web, 22-23 Oct. 2007, Tilburg: N
Home alone: autonomous extension and correction of spatial representations
In this paper we present an account
of the problems faced by a mobile robot given
an incomplete tour of an unknown environment,
and introduce a collection of techniques which can
generate successful behaviour even in the presence
of such problems. Underlying our approach is the
principle that an autonomous system must be motivated
to act to gather new knowledge, and to validate
and correct existing knowledge. This principle is
embodied in Dora, a mobile robot which features
the aforementioned techniques: shared representations,
non-monotonic reasoning, and goal generation
and management. To demonstrate how well this
collection of techniques work in real-world situations
we present a comprehensive analysis of the Dora
systemâs performance over multiple tours in an indoor
environment. In this analysis Dora successfully
completed 18 of 21 attempted runs, with all but
3 of these successes requiring one or more of the
integrated techniques to recover from problems
Asking the Right Question at the Right Time: Human and Model Uncertainty Guidance to Ask Clarification Questions
Clarification questions are an essential dialogue tool to signal
misunderstanding, ambiguities, and under-specification in language use. While
humans are able to resolve uncertainty by asking questions since childhood,
modern dialogue systems struggle to generate effective questions. To make
progress in this direction, in this work we take a collaborative dialogue task
as a testbed and study how model uncertainty relates to human uncertainty -- an
as yet under-explored problem. We show that model uncertainty does not mirror
human clarification-seeking behavior, which suggests that using human
clarification questions as supervision for deciding when to ask may not be the
most effective way to resolve model uncertainty. To address this issue, we
propose an approach to generating clarification questions based on model
uncertainty estimation, compare it to several alternatives, and show that it
leads to significant improvements in terms of task success. Our findings
highlight the importance of equipping dialogue systems with the ability to
assess their own uncertainty and exploit in interaction.Comment: Accepted at EACL 202
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