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Capturing Frame-Lik...
Capturing Frame-Like Object Descriptors in Human Augmented Mapping
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- Faridghasemnia, Mohamadreza, 1991- (författare)
- Department of Computer, Control and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, Rome, Italy,AASS
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- Vanzo, Andrea (författare)
- Mathematical and Computer Science School, Heriot-Watt University, Edinburgh, UK
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- Nardi, Daniele (författare)
- Department of Computer, Control and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, Rome, Italy
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(creator_code:org_t)
- 2019-11-12
- 2019
- Engelska.
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Ingår i: AI*IA 2019 - Advances in Artificial Intelligence. - Cham : Springer. - 9783030351656 - 9783030351663 ; , s. 392-404
- Relaterad länk:
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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
- The model of an environment plays a crucial role in autonomous mobile robots, by providing them with the necessary task-relevant information. As robots become more intelligent, they need a richer and more expressive environment model. This model is a map that contains a structured description of the environment that can be used as the robot’s knowledge for several tasks, such as planning and reasoning. In this work, we propose a framework that allows to capture important environment descriptors, such as functionality and ownership of the robot’s surrounding objects, through verbal interaction. Specifically, we propose a corpus of verbal descriptions annotated with frame-like structures. We use the proposed dataset to train two multi-task neural architectures. We compare the two architectures through an experimental evaluation, discussing the design choices. Finally, we describe the creation of a simple interactive interface with our system, implemented through the trained model. The novelties of this work are: (i) the definition of a new problem, i.e., addressing different object descriptors, that plays a crucial role for the robot’s tasks accomplishment; (ii) a specialized corpus to support the creation of rich Semantic Maps; (iii) the design of different neural architectures, and their experimental evaluation over the proposed dataset; (iv) a simple interface for the actual usage of the proposed resources.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Natural Language understanding
- Semantic mapping
- Human robot interaction
- Neural networks
- Semantic mapping corpus
- Corpus annotator
- Computer Science
- Datavetenskap
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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