Object schemas for grounding language in a responsive robot
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trisk_connection_science_submission.pdf
Description
Main Article
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1.56 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Vosoughi, Soroush
Kubat, Rony Daniel
Roy, Deb K.
Hsiao, Kai-yuh, 1977-
Tellex, Stefanie, 1980-
Date Issued
December 2008
Journal
Connection Science
Citation
Hsiao, Kai-yuh, Stefanie Tellex, Soroush Vosoughi, Rony Kubat, and Deb Roy. “Object Schemas for Grounding Language in a Responsive Robot.” Connection Science 20, no. 4 (December 2008): 253–276.
Version
Author's final manuscript
Abstract
An approach is introduced for physically grounded natural language interpretation by robots that reacts appropriately to unanticipated physical changes in the environment and dynamically assimilates new information pertinent to ongoing tasks. At the core of the approach is a model of object schemas that enables a robot to encode beliefs about physical objects in its environment using collections of coupled processes responsible for sensorimotor interaction. These interaction processes run concurrently in order to ensure responsiveness to the environment, while co-ordinating sensorimotor expectations, action planning and language use. The model has been implemented on a robot that manipulates objects on a tabletop in response to verbal input. The implementation responds to verbal requests such as ‘Group the green block and the red apple’, while adapting in real time to unexpected physical collisions and taking opportunistic advantage of any new information it may receive through perceptual and linguistic channels.
MIT Department
Massachusetts Institute of Technology. Media Laboratory
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1080/09540090802445113
