Abstract
Natural language provides a flexible, intuitive way for people to command robots, which is becoming increasingly important as robots transition to working alongside people in our homes and workplaces. To follow instructions in unknown environments, robots will be expected to reason about parts of the environments that were described in the instruction, but that the robot has no direct knowledge about. However, most existing approaches to natural language understanding require that the robot’s environment be known a priori. This paper proposes a probabilistic framework that enables robots to follow commands given in natural language, without any prior knowledge of the environment. The novelty lies in exploiting environment information implicit in the instruction, thereby treating language as a type of sensor that is used to formulate a prior distribution over the unknown parts of the environment. The algorithm then uses this learned distribution to infer a sequence of actions that are most consistent with the command, updating our belief as we gather more metric information. We evaluate our approach through simulation as well as experiments on two mobile robots; our results demonstrate the algorithm’s ability to follow navigation commands with performance comparable to that of a fully-known environment.
The first four authors contributed equally to this paper.
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Acknowledgments
The authors would like to thank Bob Dean for his help with the Husky platform. This work was supported in part by the Robotics Consortium of the U.S. Army Research Laboratory under the Collaborative Technology Alliance Program, Cooperative Agreement W911NF-10-2-0016.
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Duvallet, F. et al. (2016). Inferring Maps and Behaviors from Natural Language Instructions. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_25
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DOI: https://doi.org/10.1007/978-3-319-23778-7_25
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