No abstract

No abstract

Human language is inherently embodied and grounded in sensorimotor representations of the self and the world around it. This suggests that the body schema and ideomotor action-effect associations play an important role in language understanding, language generation, and verbal/physical interaction with others. There are computational models that focus purely on non-verbal interaction between humans and robots, and there are computational models for dialog systems that focus only on verbal interaction. However, there is a lack of research that integrates these approaches. We hypothesize that the development of computational models of the self is very appropriate for considering joint verbal and physical interaction. Therefore, they provide the substantial potential to foster the psychological and cognitive understanding of language grounding, and they have significant potential to improve human-robot interaction methods and applications. This review is a first step toward developing models of the self that integrate verbal and non-verbal communication. To this end, we first analyze the relevant findings and mechanisms for language grounding in the psychological and cognitive literature on ideomotor theory. Second, we identify the existing computational methods that implement physical decision-making and verbal interaction. As a result, we outline how the current computational methods can be used to create advanced computational interaction models that integrate language grounding with body schemas and self-representations.

Handling various robot action-language translation tasks flexibly is an essential requirement for natural interaction between a robot and a human. Previous approaches require change in the configuration of the model architecture per task during inference, which undermines the premise of multi-task learning. In this work, we propose the paired gated autoencoders (PGAE) for flexible translation between robot actions and language descriptions in a tabletop object manipulation scenario. We train our model in an end-to-end fashion by pairing each action with appropriate descriptions that contain a signal informing about the translation direction. During inference, our model can flexibly translate from action to language and vice versa according to the given language signal. Moreover, with the option to use a pretrained language model as the language encoder, our model has the potential to recognise unseen natural language input. Another capability of our model is that it can recognise and imitate actions of another agent by utilising robot demonstrations. The experiment results highlight the flexible bidirectional translation capabilities of our approach alongside with the ability to generalise to the actions of the opposite-sitting agent.

No abstract