Systems of natural-language-facilitated human-robot cooperation: A review

arXiv.org Artificial Intelligence

Natural-language-facilitated human-robot cooperation (NLC), in which natural language (NL) is used to share knowledge between a human and a robot for conducting intuitive human-robot cooperation (HRC), is continuously developing in the recent decade. Currently, NLC is used in several robotic domains such as manufacturing, daily assistance and health caregiving. It is necessary to summarize current NLC-based robotic systems and discuss the future developing trends, providing helpful information for future NLC research. In this review, we first analyzed the driving forces behind the NLC research. Regarding to a robot s cognition level during the cooperation, the NLC implementations then were categorized into four types {NL-based control, NL-based robot training, NL-based task execution, NL-based social companion} for comparison and discussion. Last based on our perspective and comprehensive paper review, the future research trends were discussed.


Learning Grounded Language through Situated Interactive Instruction

AAAI Conferences

We present an approach for learning grounded language from mixed-initiative human-robot interaction. Prior work on learning from human instruction has concentrated on acquisition of task-execution knowledge from domain-specific language. In this work, we demonstrate acquisition of linguistic, semantic, perceptual, and procedural knowledge from mixed-initiative, natural language dialog. Our approach has been instantiated in a cognitive architecture, Soar, and has been deployed on a table-top robotic arm capable of picking up small objects. A preliminary analysis verifies the ability of the robot to acquire diverse knowledge from human-robot interaction.


Communicating with Executable Action Representations

AAAI Conferences

Natural language instructions are often underspecified and imprecise which makes them hard to understand for an artificial agent. In this article we present a system of connected knowledge representations that is used to control a robot through instructions. As actions are a key component of instructions and the robot's behavior the representation of action is central in our approach. First, the system consists of a conceptual schema representation which provides a parameter interface for action. Second, we present an intermediate representation of the temporal structure of action and show how this generic action structure can be mapped to detailed action controllers as well as language.


Combining World and Interaction Models for Human-Robot Collaborations

AAAI Conferences

As robotic technologies mature, we can imagine an increasing number of applications in which robots could soon prove to be useful in unstructured human environments. Many of those applications require a natural interface between the robot and untrained human users or are possible only in a human-robot collaborative scenario. In this paper, we study an example of such scenario in which a visually impaired person and a robotic guide collaborate in an unfamiliar environment. We then analyze how the scenario can be realized through language- and gesture-based human-robot interaction, combined with semantic spatial understanding and reasoning, and propose an integration of semantic world model with language and gesture models for several collaboration modes. We believe that this way practical robotic applications can be achieved in human environments with the use of currently available technology.


Safe Navigation with Human Instructions in Complex Scenes

arXiv.org Artificial Intelligence

In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant and keep away from people". We first classify human instructions into three types: the goal, the constraints, and uninformative phrases. Next, we provide grounding for the extracted goal and constraint items in a dynamic manner along with the navigation process, to deal with the target objects that are too far away for sensor observation and the appearance of moving obstacles like humans. In particular, for a goal phrase (e.g., "go to the restaurant"), we ground it to a location in a predefined semantic map and treat it as a goal for a global motion planner, which plans a collision-free path in the workspace for the robot to follow. For a constraint phrase (e.g., "keep away from people"), we dynamically add the corresponding constraint into a local planner by adjusting the values of a local costmap according to the results returned by the object detection module. The updated costmap is then used to compute a local collision avoidance control for the safe navigation of the robot. By combining natural language processing, motion planning, and computer vision, our developed system is demonstrated to be able to successfully follow natural language navigation instructions to achieve navigation tasks in both simulated and real-world scenarios. Videos are available at https://sites.google.com/view/snhi