This paper describes a weakly supervised approach for understanding natural language commands to robotic systems. Our approach, called the combinatory grounding graph (CGG), takes as input natural language commands paired with groundings and infers the space of parses that best describe how to ground the natural language command. The command is understood in a compositional way, generating a latent hierarchical parse tree that involves relations (such as "to" or "by") and categories (such as "the elevators" or "the doors"). We show an example parse-grounding tree and show that our system can successfully cluster the meanings of objects and locations.

This paper documents extending the ELEXIR (Engine for LEXicalized Intent Recognition) system (Geib 2009; Geib 2011) with a world model. This is a significant increase in the expressiveness of the plan recognition system and allows a number of additions to the algorithm, most significantly conditioning probabilities for recognized plans on the state of the world during execution. Since, ELEXIR falls in the family of gramatical methods for plan recognition in viewing the problem of plan recognition as that of parsing, this paper will also briefly discuss how this extension relates to state of the art proposals in the natural language community regarding probabilistic parsing.

In this paper, we propose an approach that automatically extract users’ activities in sentences retrieved from Twitter. We then design a timeline action networkbased on Web Ontology Language (OWL). By using the proposed activity extraction approach, we can automatically collect data for the action network. Finally, we propose a novel action-based collaborative filtering, which predicts missing activity data, in order to complement this timeline network. Moreover, with a combination of collaborative filtering and natural language processing (NLP), our method can deal with minority actions such as successful actions. Based on evaluation of tweets which related to the massive Tohoku earthquake,we indicated that our timeline action network can provide useful action patterns in real-time. Not only earthquake disaster, our research can also be applied to other disasters and business models, such as typhoon,travel, marketing, etc.

Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar’s original symbolic processing, which improves Soar abilities for control of robots. These extensions include mental imagery, episodic and semantic memory, reinforcement learning, and continuous model learning. This paper presents research in mobile robotics, relational and continuous model learning, and learning by situated, interactive instruction.

It is well established that in certain domains, noisy inputs can be reliablycombined to obtain a better answer than any individual.It is now possible to consider the crowdsourcing of physical actions,commonly used for creative expressions such as drawing, shading, and singing.We provide algorithms for converting low-quality inputobtained from the physical actions of a crowd into high-quality output.The inputs take the form of line drawings, shaded images, and songs.We investigate single-individual crowds (multiple inputs from a single human)and multiple-individual crowds.

Research over the past years has shown that machine translation results can be greatly enhanced with the help of mono- or bilingual human contributors, e.g. by asking hu- mans to proofread or correct outputs of machine translation systems. However, it remains difficult to determine the quality of individual revisions. This paper proposes a meth- od to determine the quality of individual contributions by analyzing task-independent data. Examples of such data are completion time, number of keystrokes, etc. An initial evaluation showed promising F-measure values larger than 0.8 for support vector machine and decision tree based classifications of a combined test set of Vietnamese and German translations.

General representation, abstraction and exchange definitions are crucial for dynamically configurable context recognition. However, to evaluate potential definitions, suitable standard datasets are needed. This paper presents our effort to create and maintain large scale, multimodal standard datasets for context recognition research. We ourselves used these datasets in previous research to deal with placement effects and presented low-level sensor abstractions in motion based on-body sensing. Researchers, conducting novel data collections, can rely on the toolchain and the the low-level sensor abstractions summarized in this paper. Additionally, they can draw from our experiences developing and conducting context recognition experiments. Our toolchain is already a valuable rapid prototyping tool. Still, we plan to extend it to crowd-based sensing, enabling the general public to gather context data, learn more about their lives and contribute to context recognition research. Applying higher level context reasoning on the gathered context data is a obvious extension to our work.

Planning with action concurrency under time and resources constraints and uncertainty is a challenging problem. Current approaches which rely on Markov Decision Processes and a discrete model for time and resources are limited by a blow-up of the search state-space. This paper presents a planner which is based on a classical forward search for solving this kind a problems. A continuous model is used for time and resources. The uncertainty on time is represented by continuous random variables which are organized in a dynamically generated Bayesian network. Two versions of the ActuPlan planner are presented. As a first step, ActuPlan_nc performs a forward-search in an augmented state-space to generate epsilon-optimal nonconditional plans which are robust to uncertainty (threshold on the probability of success). ActuPlan_nc is then adapted to generate a set of nonconditional plans which are characterized by different trade-offs between their probability of success and their expected cost. ActuPlan, the second version, builds a conditional plan with a lower expected cost by merging previously generated nonconditional plans. The branches are built by conditioning on the time. Empirical experimentation on standard benchmarks demonstrates the effectiveness of the approach.

Cooperative multi-agent path planning around a common location has many applications, and has received significant at- tention from the research community. Our research is motivated by the need for groups of autonomous vehicles or mobile robots to collaboratively plan efficient paths around shared navigational coordinates (waypoints) in a distributed and decentralized manner. Our ongoing research is focused on creating a distributed solution to Dresner and Stone’s Autonomous Intersection Management problem. In the future we plan to relax the constraints of this problem, and allow more flexibility in the angles of approach and departure from a single waypoint, and also plan to consider efficient group plans for multi-waypoint routes. In this paper we briefly introduce intersection management, present preliminary results for an unstructured peer-to-peer approach to the problem, and discuss future research directions.

Interest in online education is surging, as dramatized bythe success of Khan Academy and recent Stanford online courses, but the technology for online education isin its infancy. Crowdsourcing mechanisms will likelybe essential in order to reach the full potential of thismedium. This paper sketches some of the challengesand directions we hope HCOMP researchers will address.