Learning to Parse Natural Language Commands to a Robot Control System

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dc.contributor.authorMatuszek, Cynthia
dc.contributor.authorHerbst, Evan
dc.contributor.authorZettlemoyer, Luke
dc.contributor.authorFox, Dieter
dc.date.accessioned2019-07-09T15:50:50Z
dc.date.available2019-07-09T15:50:50Z
dc.date.issued2012-06
dc.description.abstractAs robots become more ubiquitous and capable of performing complex tasks, the importance of enabling untrained users to interact with them has increased. In response, unconstrained natural-language interaction with robots has emerged as a significant research area. We discuss the problem of parsing natural language commands to actions and control structures that can be readily implemented in a robot execution system. Our approach learns a parser based on example pairs of English commands and corresponding control language expressions. We evaluate this approach in the context of following route instructions through an indoor environment, and demonstrate that our system can learn to translate English commands into sequences of desired actions, while correctly capturing the semantic intent of statements involving complex control structures. The procedural nature of our formal representation allows a robot to interpret route instructions online while moving through a previously unknown environment.en_US
dc.description.sponsorshipThis work was funded in part by the Intel Science and Technology Center for Pervasive Computing, through collaborative participation in the Robotics Consortium sponsored by the U.S. Army Research Laboratory under the Collaborative Technology Alliance Program (Cooperative Agreement W911NF-10-2-0016), and by NSF grant IIS-1115966.en_US
dc.description.urihttps://link.springer.com/chapter/10.1007/978-3-319-00065-7_28en_US
dc.format.extent14 pagesen_US
dc.genreconference papers and proceedings preprintsen_US
dc.identifierdoi:10.13016/m29myn-ecwl
dc.identifier.citationMatuszek C., Herbst E., Zettlemoyer L., Fox D. (2013) Learning to Parse Natural Language Commands to a Robot Control System. In: Desai J., Dudek G., Khatib O., Kumar V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelbergen_US
dc.identifier.urihttps://doi.org/10.1007/978-3-319-00065-7_28
dc.identifier.urihttp://hdl.handle.net/11603/14363
dc.language.isoen_USen_US
dc.publisherSpringer Nature Switzerland AG.en_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Computer Science and Electrical Engineering Department Collection
dc.rightsThis item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.
dc.subjectNatural Languageen_US
dc.subjectLexical Itemen_US
dc.subjectRobot Controlen_US
dc.subjectStatistical Machine Translationen_US
dc.subjectCategorial Grammaren_US
dc.subjectInteractive Robotics and Language Lab
dc.titleLearning to Parse Natural Language Commands to a Robot Control Systemen_US
dc.typeTexten_US

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