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

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

The lexical approach: collocability, fluency and implications for teaching

The lexical approach identifies lexis as the basis of language and focuses on the principle that language consists of grammaticalised lexis. in second language acquisition, over the past few years, this approach has generated great interest as an alternative to traditional grammar-based teaching methods. From a psycholinguistic point of view, the lexical approach consists of the capacity of understanding and producing lexical phrases as non-analysed entities (chunks). A growing body of literature concerning spoken fluency is in favour of integrating automaticity and formulaic language units into classroom practice. in line with the latest theories on SlA, we recommend the inclusion of a language awareness component as an integral part of this approach. The purpose is to induce what Schmidt (1990) calls noticing, i.e., registering forms in the input so as to store them in memory. This paper, which is in keeping with the interuniversity Research Project “Evidentiality in a multidisciplinary corpus of English research papers” of the University of las Palmas de Gran Canaria, provides a theoretical overview on the research of this approach taking into account both the methodological foundations on the subject and its pedagogical implications for SLA.

Learning to automatically detect features for mobile robots using second-order Hidden Markov Models

In this paper, we propose a new method based on Hidden Markov Models to interpret temporal sequences of sensor data from mobile robots to automatically detect features. Hidden Markov Models have been used for a long time in pattern recognition, especially in speech recognition. Their main advantages over other methods (such as neural networks) are their ability to model noisy temporal signals of variable length. We show in this paper that this approach is well suited for interpretation of temporal sequences of mobile-robot sensor data. We present two distinct experiments and results: the first one in an indoor environment where a mobile robot learns to detect features like open doors or T-intersections, the second one in an outdoor environment where a different mobile robot has to identify situations like climbing a hill or crossing a rock.Comment: 200

The Sweet-Home speech and multimodal corpus for home automation interaction

International audienceAmbient Assisted Living aims at enhancing the quality of life of older and disabled people at home thanks to Smart Homes and Home Automation. However, many studies do not include tests in real settings, because data collection in this domain is very expensive and challenging and because of the few available data sets. The SWEET-H OME multimodal corpus is a dataset recorded in realistic conditions in D OMUS, a fully equipped Smart Home with microphones and home automation sensors, in which participants performed Activities of Daily living (ADL). This corpus is made of a multimodal subset, a French home automation speech subset recorded in Distant Speech conditions, and two interaction subsets, the first one being recorded by 16 persons without disabilities and the second one by 6 seniors and 5 visually impaired people. This corpus was used in studies related to ADL recognition, context aware interaction and distant speech recognition applied to home automation controled through voice