12,407 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
Technology assessment of advanced automation for space missions
Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology
Combining goal inference and natural-language dialogue for human-robot joint action
We demonstrate how combining the reasoning components
from two existing systems designed for human-robot joint action
produces an integrated system with greater capabilities than either
of the individual systems. One of the systems supports primarily
non-verbal interaction and uses dynamic neural fields to infer the
user’s goals and to suggest appropriate system responses; the other
emphasises natural-language interaction and uses a dialogue manager
to process user input and select appropriate system responses.
Combining these two methods of reasoning results in a robot that is
able to coordinate its actions with those of the user while employing
a wide range of verbal and non-verbal communicative actions.(undefined
DeepStory: Video Story QA by Deep Embedded Memory Networks
Question-answering (QA) on video contents is a significant challenge for
achieving human-level intelligence as it involves both vision and language in
real-world settings. Here we demonstrate the possibility of an AI agent
performing video story QA by learning from a large amount of cartoon videos. We
develop a video-story learning model, i.e. Deep Embedded Memory Networks
(DEMN), to reconstruct stories from a joint scene-dialogue video stream using a
latent embedding space of observed data. The video stories are stored in a
long-term memory component. For a given question, an LSTM-based attention model
uses the long-term memory to recall the best question-story-answer triplet by
focusing on specific words containing key information. We trained the DEMN on a
novel QA dataset of children's cartoon video series, Pororo. The dataset
contains 16,066 scene-dialogue pairs of 20.5-hour videos, 27,328 fine-grained
sentences for scene description, and 8,913 story-related QA pairs. Our
experimental results show that the DEMN outperforms other QA models. This is
mainly due to 1) the reconstruction of video stories in a scene-dialogue
combined form that utilize the latent embedding and 2) attention. DEMN also
achieved state-of-the-art results on the MovieQA benchmark.Comment: 7 pages, accepted for IJCAI 201
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
Early Turn-taking Prediction with Spiking Neural Networks for Human Robot Collaboration
Turn-taking is essential to the structure of human teamwork. Humans are
typically aware of team members' intention to keep or relinquish their turn
before a turn switch, where the responsibility of working on a shared task is
shifted. Future co-robots are also expected to provide such competence. To that
end, this paper proposes the Cognitive Turn-taking Model (CTTM), which
leverages cognitive models (i.e., Spiking Neural Network) to achieve early
turn-taking prediction. The CTTM framework can process multimodal human
communication cues (both implicit and explicit) and predict human turn-taking
intentions in an early stage. The proposed framework is tested on a simulated
surgical procedure, where a robotic scrub nurse predicts the surgeon's
turn-taking intention. It was found that the proposed CTTM framework
outperforms the state-of-the-art turn-taking prediction algorithms by a large
margin. It also outperforms humans when presented with partial observations of
communication cues (i.e., less than 40% of full actions). This early prediction
capability enables robots to initiate turn-taking actions at an early stage,
which facilitates collaboration and increases overall efficiency.Comment: Submitted to IEEE International Conference on Robotics and Automation
(ICRA) 201
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