To facilitate continuous development of novel HRI systems, it is beneficial to have tools that enable quick adjustments, flexibility, or re-invention of the human interfaces when system requirements change due to updates in the state-of-the-art, application domain, etc. Thus, modularity is a key design principle which promotes software reuse, scalability, and reduces development time and cost. Hence, a robot’s autonomous capabilities should not depend on the command interface and should be decoupled via a common format that possesses the descriptive capabilities for outlining tasks and has a sensible syntax for HRI. In this paper, we propose the Unified Meaning Representation Format (UMRF), which provides the syntax and semantics for passing both simple and complex commands modelled as control flow graphs. UMRF is a standalone meaning representation container that supports embedding other meaning representation formalisms, such as predicate-argument semantics and graphical meaning representation formats, making it adoptable as a standard task description format for semi-autonomous systems in HRI domains. In this article, we define the UMRF syntax and semantics, summarize its unique aspects relative to related task description formats, and demonstrate its descriptiveness by navigating a robot via concurrent (e.g., gestures and speech) and interchangeable input systems (e.g., Google Assistant, Amazon Alexa).

Abstract. A spectral sequence is associated with any presentation of a group G. It turns out that this spectral sequence is independent of the chosen presentation. In particular if G is the fundamental group of a link Lin Ä3 the spectral sequence leads to invariants that compare to the Milnor invariants of L. 0. Introduction. Recently Stallings used the cobar construction of a resolution to associate to each group G a 2nd quadrant spectral sequence Er_sl which is 0 for s > t and which satisfies is" = IsG/Is+lG where IG is the fundamental ideal of G [9]. Here we present a different construction with all the properties mentioned above but with some advantages. First, it can be read off from any group presentation. Second, is^, = 0 for t > s + 2. In Stallings' sequence one has no information on those terms (and they are definitely not zero). Third, and most important, the Er_ss and Er_s^+X terms are related to the Baer invariants of G [1]. This is better than the results in [5] which do depend upon the presentation while ours do not.We describe our sequence in § 1 ; in §2 we show that the sequence is intrinsically defined by using the results of [4]. In §3 we apply our results to the theory of links iniî3.

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