Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation
Author(s)Kollar, Thomas; Dickerson, Steven; Tellex, Stefanie; Banerjee, Ashis Gopal; Walter, Matthew R.; Teller, Seth; Roy, Nicholas; ... Show more Show less
Robotics, Vision & Sensor Networks
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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.
graphical models, SDC, ESDC, grounding