Single assembly robot in search of human partner: Versatile grounded language generation
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knepper-hri13.pdf
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Author(s)
Knepper, Ross A.
Tellex, Stefanie
Li, Adrian
Roy, Nicholas
Rus, Daniela L.
Date Issued
March 2013
Journal
2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Knepper, Ross A., Stefanie Tellex, Adrian Li, Nicholas Roy, and Daniela Rus. “Single Assembly Robot in Search of Human Partner: Versatile Grounded Language Generation.” 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Tokoyo, Japan, 3-6 March 2013, IEEE, p.167-168.
Version
Author's final manuscript
Abstract
We describe an approach for enabling robots to recover from failures by asking for help from a human partner. For example, if a robot fails to grasp a needed part during a furniture assembly task, it might ask a human partner to “Please hand me the white table leg near you.” After receiving the part from the human, the robot can recover from its grasp failure and continue the task autonomously. This paper describes an approach for enabling a robot to automatically generate a targeted natural language request for help from a human partner. The robot generates a natural language description of its need by minimizing the entropy of the command with respect to its model of language understanding for the human partner, a novel approach to grounded language generation. Our long-term goal is to compare targeted requests for help to more open-ended requests where the robot simply asks “Help me,” demonstrating that targeted requests are more easily understood by human partners.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/HRI.2013.6483554
