From human instructions to robot actions: Formulation of goals, affordances and probabilistic planning
| Autor: | Giovanni Saponaro, Alexandre Antunes, Lorenzo Jamone, Rodrigo Ventura, Alexandre Bernardino |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Personal robot Social robot Computer science business.industry 02 engineering and technology Cognitive architecture Robot learning 020901 industrial engineering & automation Human–computer interaction 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Artificial intelligence Affordance business Humanoid robot iCub Spoken language |
| Zdroj: | ICRA |
| Popis: | This paper addresses the problem of having a robot executing motor tasks requested by a human through spoken language. Verbal instructions do not typically have a one-to-one mapping to robot actions, due to various reasons: economy of spoken language, e.g., one short instruction might indeed correspond to a complex sequence of robot actions, and details about action execution might be omitted; grounding, e.g., some actions might need to be added or adapted due to environmental contingencies; embodiment, e.g., a robot might have different means than the human ones to obtain the goals that the instruction refers to. We propose a general cognitive architecture to deal with these issues, based on three steps: i) language-based semantic reasoning on the instruction (high-level), ii) formulation of goals in robot symbols and probabilistic planning to achieve them (mid-level), iii) action execution (low-level). The description of the mid-level is the main focus of this paper. The robot plans are adapted to the current scenario, perceived in real-time and continuously updated, taking in consideration the robot capabilities, modeled through the concept of affordances: this allows for flexibility and creativity in the task execution. We showcase the performance of the proposed architecture with real world experiments using the iCub humanoid robot, also in the presence of unexpected events and action failures. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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