FLEXIBLE COMMAND INTERPRETATION ON AN INTERACTIVE DOMESTIC SERVICE ROBOT

Stefan Schiffer, Niklas Hoppe, Gerhard Lakemeyer

2012

Abstract

In this paper, we propose a system for robust and flexible command interpretation on a mobile robot in domestic service robotics applications. Existing language processing for instructing a mobile robot often make use of a simple, restricted grammar where precisely pre-defined utterances are directly mapped to system calls. This does not take into account fallibility of human users and only allows for binary processing; either a command is part of the grammar and hence understood correctly, or it is not part of the grammar and gets rejected. We model the language processing as an interpretation process where the utterance needs to be mapped to a robot’s capabilities. We do so by casting the processing as a (decision-theoretic) planning problem on interpretatory actions. This allows for a flexible system that can resolve ambiguities and which is also capable of initiating steps to achieve clarification.

References

  1. Austin, J. L. (1975). How to Do Things with Words. Harvard University Press, 2 edition.
  2. Beetz, M., Arbuckle, T., Belker, T., Cremers, A. B., and Schulz, D. (2001). Integrated plan-based control of autonomous robots in human environments. IEEE Intelligent Systems, 16(5):56-65.
  3. Boutilier, C., Reiter, R., Soutchanski, M., and Thrun, S. (2000). Decision-theoretic, high-level agent programming in the situation calculus. In Proc. of the 17th Nat'l Conf. on Artificial Intelligence (AAAI-00), pages 355-362. AAAI Press/The MIT Press.
  4. Clodic, A., Alami, R., Montreuil, V., Li, S., Wrede, B., and Swadzba, A. (2007). A study of interaction between dialog and decision for human-robot collaborative task achievement. In Proc. Int'l Symposium on Robot and Human interactive Communication (ROMAN'07), pages 913-918. IEEE.
  5. Cohen, P. R. and Levesque, H. J. (1985). Speech acts and rationality. In Proc. of the 23rd Annual Meeting on Association for Computational Linguistics, pages 49- 60.
  6. Cornish, D. and Dukette, D. (2009). The Essential 20: Twenty Components of an Excellent Health Care Team. RoseDog Books.
  7. Doostdar, M., Schiffer, S., and Lakemeyer, G. (2008). Robust speech recognition for service robotics applications. In Proc. of the Int'l RoboCup Symposium 2008 (RoboCup 2008), pages 1-12. Springer.
  8. Ervin-Tripp, S. (1976). Is Sybil there? The structure of some American English directives. Language in Society, 5(01):25-66.
  9. Ferrein, A. and Lakemeyer, G. (2008). Logic-based robot control in highly dynamic domains. Robotics and Autonomous Systems, 56(11):980-991. Special Issue on ”Semantic Knowledge in Robotics”.
  10. Fong, T., Thorpe, C., and Baur, C. (2003). Collaboration, dialogue, human-robot interaction. In Robotics Research, volume 6 of Springer Tracts in Advanced Robotics, pages 255-266. Springer.
  11. Görz, G. and Ludwig, B. (2005). Speech Dialogue Systems - A Pragmatics-Guided Approach to Rational Interaction. KI-Künstliche Intelligenz, 10(3):5-10.
  12. Gu, Y. and Soutchanski, M. (2008). Reasoning about large taxonomies of actions. In Proc. of the 23rd Nat'l Conf. on Artificial Intelligence, pages 931-937. AAAI Press.
  13. Levesque, H. J., Reiter, R., Lespérance, Y., Lin, F., and Scherl, R. B. (1997). Golog: A logic programming language for dynamic domains. J Logic Program, 31(1-3):59-84.
  14. McCarthy, J. (1963). Situations, Actions, and Causal Laws. Technical Report Memo 2, AI Lab, Stanford University, California, USA.
  15. Puterman, M. L. (1994). Markov Decision Processes: Discrete Stochastic Dynamic Programming. John Wiley & Sons, Inc.
  16. Reiter, R. (2001). Knowledge in Action. Logical Foundations for Specifying and Implementing Dynamical Systems. MIT Press.
  17. Scowen, R. (1993). Extended bnf - generic base standards. In Proc. of the Software Engineering Standards Symposium, pages 25-34.
  18. Searle, J. R. (1969). Speech Acts: An Essay in the Philosophy of Language. Cambridge University Press, Cambridge, London.
  19. Shieber, S. (1985). Evidence against the context-freeness of natural language. Linguistics and Philosophy, 8(3):333-343.
  20. Wisspeintner, T., van der Zant, T., Iocchi, L., and Schiffer, S. (2009). Robocup@home: Scientific Competition and Benchmarking for Domestic Service Robots. Interaction Studies. Special Issue on Robots in the Wild, 10(3):392-426.
Download


Paper Citation


in Harvard Style

Schiffer S., Hoppe N. and Lakemeyer G. (2012). FLEXIBLE COMMAND INTERPRETATION ON AN INTERACTIVE DOMESTIC SERVICE ROBOT . In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8425-95-9, pages 26-35. DOI: 10.5220/0003707300260035


in Bibtex Style

@conference{icaart12,
author={Stefan Schiffer and Niklas Hoppe and Gerhard Lakemeyer},
title={FLEXIBLE COMMAND INTERPRETATION ON AN INTERACTIVE DOMESTIC SERVICE ROBOT},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2012},
pages={26-35},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003707300260035},
isbn={978-989-8425-95-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - FLEXIBLE COMMAND INTERPRETATION ON AN INTERACTIVE DOMESTIC SERVICE ROBOT
SN - 978-989-8425-95-9
AU - Schiffer S.
AU - Hoppe N.
AU - Lakemeyer G.
PY - 2012
SP - 26
EP - 35
DO - 10.5220/0003707300260035