Interactively Picking Real-World Objects with Unconstrained Spoken Language Instructions

Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challenging due to (1) complex structures including a wide variety of expressions used in spoken language and (2) inherent ambiguity in interpretation of human instructions. In this paper, we propose the first comprehensive system that can handle unconstrained spoken language and is able to effectively resolve ambiguity in spoken instructions. Specifically, we integrate deep-learning-based object detection together with natural language processing technologies to handle unconstrained spoken instructions, and propose a method for robots to resolve instruction ambiguity through dialogue. Through our experiments on both a simulated environment as well as a physical industrial robot arm, we demonstrate the ability of our system to understand natural instructions from human operators effectively, and how higher success rates of the object picking task can be achieved through an interactive clarification process.Comment: 9 pages. International Conference on Robotics and Automation (ICRA) 2018. Accompanying videos are available at the following links: https://youtu.be/_Uyv1XIUqhk (the system submitted to ICRA-2018) and http://youtu.be/DGJazkyw0Ws (with improvements after ICRA-2018 submission

Towards an Indexical Model of Situated Language Comprehension for Cognitive Agents in Physical Worlds

We propose a computational model of situated language comprehension based on the Indexical Hypothesis that generates meaning representations by translating amodal linguistic symbols to modal representations of beliefs, knowledge, and experience external to the linguistic system. This Indexical Model incorporates multiple information sources, including perceptions, domain knowledge, and short-term and long-term experiences during comprehension. We show that exploiting diverse information sources can alleviate ambiguities that arise from contextual use of underspecific referring expressions and unexpressed argument alternations of verbs. The model is being used to support linguistic interactions in Rosie, an agent implemented in Soar that learns from instruction.Comment: Advances in Cognitive Systems 3 (2014

Recurrent Multimodal Interaction for Referring Image Segmentation

In this paper we are interested in the problem of image segmentation given natural language descriptions, i.e. referring expressions. Existing works tackle this problem by first modeling images and sentences independently and then segment images by combining these two types of representations. We argue that learning word-to-image interaction is more native in the sense of jointly modeling two modalities for the image segmentation task, and we propose convolutional multimodal LSTM to encode the sequential interactions between individual words, visual information, and spatial information. We show that our proposed model outperforms the baseline model on benchmark datasets. In addition, we analyze the intermediate output of the proposed multimodal LSTM approach and empirically explain how this approach enforces a more effective word-to-image interaction.Comment: To appear in ICCV 2017. See http://www.cs.jhu.edu/~cxliu/ for code and supplementary materia

Don't Blame Distributional Semantics if it can't do Entailment

Distributional semantics has had enormous empirical success in Computational Linguistics and Cognitive Science in modeling various semantic phenomena, such as semantic similarity, and distributional models are widely used in state-of-the-art Natural Language Processing systems. However, the theoretical status of distributional semantics within a broader theory of language and cognition is still unclear: What does distributional semantics model? Can it be, on its own, a fully adequate model of the meanings of linguistic expressions? The standard answer is that distributional semantics is not fully adequate in this regard, because it falls short on some of the central aspects of formal semantic approaches: truth conditions, entailment, reference, and certain aspects of compositionality. We argue that this standard answer rests on a misconception: These aspects do not belong in a theory of expression meaning, they are instead aspects of speaker meaning, i.e., communicative intentions in a particular context. In a slogan: words do not refer, speakers do. Clearing this up enables us to argue that distributional semantics on its own is an adequate model of expression meaning. Our proposal sheds light on the role of distributional semantics in a broader theory of language and cognition, its relationship to formal semantics, and its place in computational models.Comment: To appear in Proceedings of the 13th International Conference on Computational Semantics (IWCS 2019), Gothenburg, Swede