It is important, for human-robot interaction, to endow the robot with the knowledge necessary to understand human needs and to be able to respond to them. We present a formalized and unified representation for indoor environments using an ontology devised for a route description task in which a robot must provide explanations to a person. We show that this representation can be used to choose a route to explain to a human as well as to verbalize it using a route perspective. Based on ontology, this representation has a strong possibility of evolution to adapt to many other applications. With it, we get the semantics of the environment elements while keeping a description of the known connectivity of the environment. This representation and the illustration algorithms, to find and verbalize a route, have been tested in two environments of different scales.
{"title":"Semantic Spatial Representation: a unique representation of an environment based on an ontology for robotic applications","authors":"Guillaume Sarthou, A. Clodic, R. Alami","doi":"10.18653/v1/W19-1606","DOIUrl":"https://doi.org/10.18653/v1/W19-1606","url":null,"abstract":"It is important, for human-robot interaction, to endow the robot with the knowledge necessary to understand human needs and to be able to respond to them. We present a formalized and unified representation for indoor environments using an ontology devised for a route description task in which a robot must provide explanations to a person. We show that this representation can be used to choose a route to explain to a human as well as to verbalize it using a route perspective. Based on ontology, this representation has a strong possibility of evolution to adapt to many other applications. With it, we get the semantics of the environment elements while keeping a description of the known connectivity of the environment. This representation and the illustration algorithms, to find and verbalize a route, have been tested in two environments of different scales.","PeriodicalId":179916,"journal":{"name":"Proceedings of the Combined Workshop on Spatial Language Understanding (","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115288499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Miltiadis Marios Katsakioris, Helen F. Hastie, Ioannis Konstas, A. Laskov
As autonomous systems become more commonplace, we need a way to easily and naturally communicate to them our goals and collaboratively come up with a plan on how to achieve these goals. To this end, we conducted a Wizard of Oz study to gather data and investigate the way operators would collaboratively make plans via a conversational ‘planning assistant’ for remote autonomous systems. We present here a corpus of 22 dialogs from expert operators, which can be used to train such a system. Data analysis shows that multimodality is key to successful interaction, measured both quantitatively and qualitatively via user feedback.
随着自主系统变得越来越普遍，我们需要一种简单而自然的方式与它们沟通我们的目标，并共同制定实现这些目标的计划。为此，我们进行了一项绿野仙踪(Wizard of Oz)研究，收集数据，并调查运营商如何通过对话式“规划助手”为远程自主系统协同制定计划。我们在这里提供了一个来自专家操作员的22个对话的语料库，它可以用来训练这样的系统。数据分析表明，多模态是成功互动的关键，可以通过用户反馈进行定量和定性测量。
{"title":"Corpus of Multimodal Interaction for Collaborative Planning","authors":"Miltiadis Marios Katsakioris, Helen F. Hastie, Ioannis Konstas, A. Laskov","doi":"10.18653/v1/W19-1601","DOIUrl":"https://doi.org/10.18653/v1/W19-1601","url":null,"abstract":"As autonomous systems become more commonplace, we need a way to easily and naturally communicate to them our goals and collaboratively come up with a plan on how to achieve these goals. To this end, we conducted a Wizard of Oz study to gather data and investigate the way operators would collaboratively make plans via a conversational ‘planning assistant’ for remote autonomous systems. We present here a corpus of 22 dialogs from expert operators, which can be used to train such a system. Data analysis shows that multimodality is key to successful interaction, measured both quantitatively and qualitatively via user feedback.","PeriodicalId":179916,"journal":{"name":"Proceedings of the Combined Workshop on Spatial Language Understanding (","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130201876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Understanding and generating spatial descriptions requires knowledge about what objects are related, their functional interactions, and where the objects are geometrically located. Different spatial relations have different functional and geometric bias. The wide usage of neural language models in different areas including generation of image description motivates the study of what kind of knowledge is encoded in neural language models about individual spatial relations. With the premise that the functional bias of relations is expressed in their word distributions, we construct multi-word distributional vector representations and show that these representations perform well on intrinsic semantic reasoning tasks, thus confirming our premise. A comparison of our vector representations to human semantic judgments indicates that different bias (functional or geometric) is captured in different data collection tasks which suggests that the contribution of the two meaning modalities is dynamic, related to the context of the task.
{"title":"What a neural language model tells us about spatial relations","authors":"M. Ghanimifard, Simon Dobnik","doi":"10.18653/v1/W19-1608","DOIUrl":"https://doi.org/10.18653/v1/W19-1608","url":null,"abstract":"Understanding and generating spatial descriptions requires knowledge about what objects are related, their functional interactions, and where the objects are geometrically located. Different spatial relations have different functional and geometric bias. The wide usage of neural language models in different areas including generation of image description motivates the study of what kind of knowledge is encoded in neural language models about individual spatial relations. With the premise that the functional bias of relations is expressed in their word distributions, we construct multi-word distributional vector representations and show that these representations perform well on intrinsic semantic reasoning tasks, thus confirming our premise. A comparison of our vector representations to human semantic judgments indicates that different bias (functional or geometric) is captured in different data collection tasks which suggests that the contribution of the two meaning modalities is dynamic, related to the context of the task.","PeriodicalId":179916,"journal":{"name":"Proceedings of the Combined Workshop on Spatial Language Understanding (","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132224451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A Natural Language Understanding (NLU) pipeline integrated with a 3D physics-based scene is a flexible way to develop and test language-based human-robot interaction, by virtualizing people, robot hardware and the target 3D environment. Here, interaction means both controlling robots using language and conversing with them about the user’s physical environment and her daily life. Such a virtual development framework was initially developed for the Bot Colony videogame launched on Steam in June 2014, and has been undergoing improvements since. The framework is focused of developing intuitive verbal interaction with various types of robots. Key robot functions (robot vision and object recognition, path planning and obstacle avoidance, task planning and constraints, grabbing and inverse kinematics), the human participants in the interaction, and the impact of gravity and other forces on the environment are all simulated using commercial 3D tools. The framework can be used as a robotics testbed: the results of our simulations can be compared with the output of algorithms in real robots, to validate such algorithms. A novelty of our framework is support for social interaction with robots - enabling robots to converse about people and objects in the user’s environment, as well as learning about human needs and everyday life topics from their owner.
{"title":"From Virtual to Real: A Framework for Verbal Interaction with Robots","authors":"E. Joseph","doi":"10.18653/v1/W19-1603","DOIUrl":"https://doi.org/10.18653/v1/W19-1603","url":null,"abstract":"A Natural Language Understanding (NLU) pipeline integrated with a 3D physics-based scene is a flexible way to develop and test language-based human-robot interaction, by virtualizing people, robot hardware and the target 3D environment. Here, interaction means both controlling robots using language and conversing with them about the user’s physical environment and her daily life. Such a virtual development framework was initially developed for the Bot Colony videogame launched on Steam in June 2014, and has been undergoing improvements since. The framework is focused of developing intuitive verbal interaction with various types of robots. Key robot functions (robot vision and object recognition, path planning and obstacle avoidance, task planning and constraints, grabbing and inverse kinematics), the human participants in the interaction, and the impact of gravity and other forces on the environment are all simulated using commercial 3D tools. The framework can be used as a robotics testbed: the results of our simulations can be compared with the output of algorithms in real robots, to validate such algorithms. A novelty of our framework is support for social interaction with robots - enabling robots to converse about people and objects in the user’s environment, as well as learning about human needs and everyday life topics from their owner.","PeriodicalId":179916,"journal":{"name":"Proceedings of the Combined Workshop on Spatial Language Understanding (","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123251149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper introduces SpatialNet, a novel resource which links linguistic expressions to actual spatial configurations. SpatialNet is based on FrameNet (Ruppenhofer et al., 2016) and VigNet (Coyne et al., 2011), two resources which use frame semantics to encode lexical meaning. SpatialNet uses a deep semantic representation of spatial relations to provide a formal description of how a language expresses spatial information. This formal representation of the lexical semantics of spatial language also provides a consistent way to represent spatial meaning across multiple languages. In this paper, we describe the structure of SpatialNet, with examples from English and German. We also show how SpatialNet can be combined with other existing NLP tools to create a text-to-scene system for a language.
{"title":"SpatialNet: A Declarative Resource for Spatial Relations","authors":"Morgan Ulinski, B. Coyne, Julia Hirschberg","doi":"10.18653/v1/W19-1607","DOIUrl":"https://doi.org/10.18653/v1/W19-1607","url":null,"abstract":"This paper introduces SpatialNet, a novel resource which links linguistic expressions to actual spatial configurations. SpatialNet is based on FrameNet (Ruppenhofer et al., 2016) and VigNet (Coyne et al., 2011), two resources which use frame semantics to encode lexical meaning. SpatialNet uses a deep semantic representation of spatial relations to provide a formal description of how a language expresses spatial information. This formal representation of the lexical semantics of spatial language also provides a consistent way to represent spatial meaning across multiple languages. In this paper, we describe the structure of SpatialNet, with examples from English and German. We also show how SpatialNet can be combined with other existing NLP tools to create a text-to-scene system for a language.","PeriodicalId":179916,"journal":{"name":"Proceedings of the Combined Workshop on Spatial Language Understanding (","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129296109","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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