Reference and the facilitation of search in spatial domains

This is a pre-final version of the article, whose official publication is expected in the winter of 2013-14.Peer reviewedPreprin

Learning Models for Following Natural Language Directions in Unknown Environments

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret natural language manipulation and navigation commands, but these methods require a prior map of the robot's environment. In this paper, we propose a novel learning framework that enables robots to successfully follow natural language route directions without any previous knowledge of the environment. The algorithm utilizes spatial and semantic information that the human conveys through the command to learn a distribution over the metric and semantic properties of spatially extended environments. Our method uses this distribution in place of the latent world model and interprets the natural language instruction as a distribution over the intended behavior. A novel belief space planner reasons directly over the map and behavior distributions to solve for a policy using imitation learning. We evaluate our framework on a voice-commandable wheelchair. The results demonstrate that by learning and performing inference over a latent environment model, the algorithm is able to successfully follow natural language route directions within novel, extended environments.Comment: ICRA 201

INAUT, a Controlled Language for the French Coast Pilot Books Instructions nautiques

We describe INAUT, a controlled natural language dedicated to collaborative update of a knowledge base on maritime navigation and to automatic generation of coast pilot books (Instructions nautiques) of the French National Hydrographic and Oceanographic Service SHOM. INAUT is based on French language and abundantly uses georeferenced entities. After describing the structure of the overall system, giving details on the language and on its generation, and discussing the three major applications of INAUT (document production, interaction with ENCs and collaborative updates of the knowledge base), we conclude with future extensions and open problems.Comment: 10 pages, 3 figures, accepted for publication at Fourth Workshop on Controlled Natural Language (CNL 2014), 20-22 August 2014, Galway, Irelan

Multiresolution Recurrent Neural Networks: An Application to Dialogue Response Generation

We introduce the multiresolution recurrent neural network, which extends the sequence-to-sequence framework to model natural language generation as two parallel discrete stochastic processes: a sequence of high-level coarse tokens, and a sequence of natural language tokens. There are many ways to estimate or learn the high-level coarse tokens, but we argue that a simple extraction procedure is sufficient to capture a wealth of high-level discourse semantics. Such procedure allows training the multiresolution recurrent neural network by maximizing the exact joint log-likelihood over both sequences. In contrast to the standard log- likelihood objective w.r.t. natural language tokens (word perplexity), optimizing the joint log-likelihood biases the model towards modeling high-level abstractions. We apply the proposed model to the task of dialogue response generation in two challenging domains: the Ubuntu technical support domain, and Twitter conversations. On Ubuntu, the model outperforms competing approaches by a substantial margin, achieving state-of-the-art results according to both automatic evaluation metrics and a human evaluation study. On Twitter, the model appears to generate more relevant and on-topic responses according to automatic evaluation metrics. Finally, our experiments demonstrate that the proposed model is more adept at overcoming the sparsity of natural language and is better able to capture long-term structure.Comment: 21 pages, 2 figures, 10 table