Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation
Name
MIT-CSAIL-TR-2011-007.pdf
Size
272 KB
Format
Adobe PDF
Checksum (MD5)
24ee9b3524d8cee8a37838e1c3f0bb02
Author(s)
Kollar, Thomas
Dickerson, Steven
Tellex, Stefanie
Banerjee, Ashis Gopal
Walter, Matthew R.
Teller, Seth
Roy, Nicholas
Advisor(s)
Nick Roy
Date Issued
February 1, 2011
Series/Report no.
MIT-CSAIL-TR-2011-007
Abstract
We describe a new model for understanding hierarchical natural language commands for robot navigation and manipulation. The model has three components: a semantic structure that captures the hierarchical structure of language; a cost function that maps the command's semantic structure to the robot's sensorimotor capabilities; and an efficient search method for finding the lowest-cost plan. We present a proof-of-concept system that carries out navigation commands in a simulated setting.
Subjects
graphical models
SDC
ESDC
grounding
Persistent DSpace Link
