. Schiffer, S., Hoppe, N., & Lakemeyer, G. Volume 358, Filipe, J. & Fred, A., editors. Natural Language Interpretation for an Interactive Service Robot in Domestic Domains, pages 39–53. Springer Berlin Heidelberg, 2013.
abstract   bibtex   
In this paper, we propose a flexible system for robust natural language interpretation of spoken commands on a mobile robot in domestic service robotics applications. Existing language processing for instructing a mobile robot is often restricted by using a simple grammar where precisely pre-defined utterances are directly mapped to system calls. These approaches do not regard fallibility of human users and they only allow for binary processing of an utterance; either a command is part of the grammar and hence understood correctly, or it is not part of the grammar and gets rejected. We model the language processing as an interpretation process where the utterance needs to be mapped to the robot's capabilities. We do so by casting the processing as a (decision-theoretic) planning problem on interpretation actions. This allows for a flexible system that can resolve ambiguities and which is also capable of initiating steps to achieve clarification. We show how we evaluated several versions of the system with multiple utterances of different complexity as well as with incomplete and erroneous requests.
@inbook {Schiffer:Hoppe:Lakemeyer:ICAART2012BOOK:NatLangInterpretation,
        title = {Natural Language Interpretation for an Interactive Service Robot in Domestic Domains},
        booktitle = {Agents and Artificial Intelligence. Fourth International Conference, ICAART 2012, Vilamoura, Portugal, February 6-8, 2012. Revised Selected Papers.},
        series = {Communications in Computer and Information Science},
        volume = {358},
        year = {2013},
        pages = {39--53},
        publisher = {Springer Berlin Heidelberg},
        organization = {Springer Berlin Heidelberg},
        abstract = {In this paper, we propose a flexible system for robust natural language interpretation of spoken commands on a mobile robot in domestic service robotics applications. Existing language processing for instructing a mobile robot is often restricted by using a simple grammar where precisely pre-defined utterances are directly mapped to system calls. These approaches do not regard fallibility of human users and they only allow for binary processing of an utterance; either a command is part of the grammar and hence understood correctly, or it is not part of the grammar and gets rejected. We model the language processing as an interpretation process where the utterance needs to be mapped to the robot's capabilities. We do so by casting the processing as a (decision-theoretic) planning problem on interpretation actions. This allows for a flexible system that can resolve ambiguities and which is also capable of initiating steps to achieve clarification. We show how we evaluated several versions of the system with multiple utterances of different complexity as well as with incomplete and erroneous requests.},
        author = {Schiffer, Stefan and Niklas Hoppe and Lakemeyer, Gerhard},
        editor = {Joaquim Filipe and Ana Fred}
}

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