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Learning from Impli...
Learning from Implicit Information in Natural Language Instructions for Robotic Manipulations
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- Can, Ozan Arkan (författare)
- Koc University
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- Zuidberg Dos Martires, Pedro (författare)
- KU Leuven
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- Persson, Andreas, 1980- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik
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- Gaal, Julian (författare)
- Osnabrück University
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- Loutfi, Amy, 1978- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik
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- De Raedt, Luc, 1964- (författare)
- KU Leuven
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- Yuret, Deniz (författare)
- Koc University
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- Saffiotti, Alessandro, Professor, 1960- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik
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(creator_code:org_t)
- Association for Computational Linguistics, 2019
- 2019
- Engelska.
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Ingår i: Proceedings of the Combined Workshop on Spatial Language Understanding (SpLU) and Grounded Communication for Robotics (RoboNLP). - : Association for Computational Linguistics. ; , s. 29-39
- Relaterad länk:
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https://doi.org/10.1...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the robot so that the instructions can be grounded. Achieving this representation can be done via learning, where both the world representation and the language grounding are learned simultaneously. However, in robotics this can be a difficult task due to the cost and scarcity of data. In this paper, we tackle the problem by separately learning the world representation of the robot and the language grounding. While this approach can address the challenges in getting sufficient data, it may give rise to inconsistencies between both learned components. Therefore, we further propose Bayesian learning to resolve such inconsistencies between the natural language grounding and a robot’s world representation by exploiting spatio-relational information that is implicitly present in instructions given by a human. Moreover, we demonstrate the feasibility of our approach on a scenario involving a robotic arm in the physical world.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Människa-datorinteraktion (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Human Computer Interaction (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)