A Review of Service Robots Coping With Uncertain Information in Natural Language Instructions

Muthugala, M. A. Viraj J.; Jayasekara, A. G. Buddhika P.

doi:10.1109/access.2018.2808369

Cited by 44 publications

(18 citation statements)

References 68 publications

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“…Out of the context of social robots in industrial settings, several service robots with 'humanlike voice communication capabilities' that are able to follow instructions given by humans and even follow a dialogue can be found in the literature, with a wide range of implementation options (M.A.V.J. Muthugala & Jayasekara, 2018). Although each implementation has different settings, the following common modules can be distinguished: (1) Automatic Speech Recognition, (2) Key element extraction from commands, 3Storage of robot's world knowledge, and (4) Interaction problem solving.…”

Section: Related Workmentioning

confidence: 99%

Towards an optimal design of natural human interaction mechanisms for a service robot with ancillary way-finding capabilities in industrial environments

Aceta

Kildal

Fernández

et al. 2021

Production & Manufacturing Research

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Section: Related Workmentioning

confidence: 99%

Towards an optimal design of natural human interaction mechanisms for a service robot with ancillary way-finding capabilities in industrial environments

Aceta

Kildal

Fernández

et al. 2021

Production & Manufacturing Research

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“…The results show that ASR engines do not work reliably with children and should be improved. A review of service robots and systems that can cope with uncertain information in natural language instructions was presented in Muthugala & Jayasekara [40]. Various scenarios like "Move a little forward" are evaluated.…”

Section: Hri In Service Roboticsmentioning

confidence: 99%

Review of Interfaces for Industrial Human-Robot Interaction

Berg

2020

Curr Robot Rep

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Purpose of Review The review presents an overview of research approaches on human-robot interfaces in industrial and service robotics. Recent Findings Research approaches address especially speech and gesture recognition in both fields but are more explored in service robotics. However, the importance of interfaces in industrial robots increases. Summary The development of human-robot interfaces is leading towards intuitive interfaces, especially using speech and gesture recognition and combining them to multimodal interfaces.

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“…Introducing a user clarification mechanism to enable robots to acquire the missing key information through dialogue and inquiry is also a method to improve task understanding performance [23]. However, friendly human-computer natural language interaction systems should have a certain degree of reasoning ability to deal with missing or incomplete natural language instructions [24].…”

Section: Related Workmentioning

confidence: 99%

A Novel Slot-Gated Model Combined With a Key Verb Context Feature for Task Request Understanding by Service Robots

Zhang

Jiang

et al. 2019

IEEE Access

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Spoken language understanding (SLU) is a fundamental to service robot handling of natural language task requests. There are two main basic problems in SLU, namely, intent determination (ID) and slot filling (SF). The slot-gated recurrent neural network joint model for the two tasks has been proven to be superior to the single model, and has achieved the most advanced performance. However, in the context of task requests for home service robots, there exists a phenomenon that the information about a current word is strongly dependent on key verbs in the sentence, and it is difficult to capture this relation well with current methods. In this paper, we extract the key instructional verb containing greater core task information based on dependency parsing, and construct a feature that combines the key verb with its contextual information to solve this problem. To further improve the performance of the slot-gated model, we consider the strong relations between intent and slot. By introducing intent attention vectors into the slot attention vectors through the global-level gate and element-level gate, a novel dual slot-gated mechanism is proposed to explicitly model the complex relations between the results of the ID tasks and SF prediction tasks and optimize the global prediction results. Our experimental results on the ATIS dataset and an extended home service task (SRTR) dataset based on FrameNet show that the proposed method outperforms the most advanced methods in both tasks. Especially, for SRTR, the results of SF, ID, and sentence-level semantic frame-filling are improved by 1.7%, 1.1%, and 1.7%, respectively.INDEX TERMS Human-robot interaction, service robots, slot-gated mechanism, spoken language understanding, verb context feature. ambiguity of verbs and incomplete natural language description scenarios [14]. In recent years, with the development of recurrent neural networks, some joint training models based on Long Short-Term Memory(LSTM) and its variants have become widely used in natural language understanding. These models are different from traditional verb matching and other context-free grammar models. They can learn the remote dependencies in sentences through the gating mechanism, and improve the overall performance through joint training of ID and SF. However, this kind of model only adds training loss for the joint training, which cannot model the complex correlation between the two tasks well. Moreover, in the field of service robots, people usually interact with robots in a command language. Unlike auxiliary query languages, many commands in this field contain key verbs that are directly related to behavioral intent. There is a strong information complement relation between many chunks in the command and such key verbs, while there is a weak dependence relation with other chunks. In the example of ''After five minutes, please wipe the table with a paper towel.'' shown in Figure 1 (a), the information of ''Time'', ''Tool'' and ''Target Object'' of ''wipe'' are complemented by ''After five minutes...

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A Review of Service Robots Coping With Uncertain Information in Natural Language Instructions

Cited by 44 publications

References 68 publications

Towards an optimal design of natural human interaction mechanisms for a service robot with ancillary way-finding capabilities in industrial environments

Towards an optimal design of natural human interaction mechanisms for a service robot with ancillary way-finding capabilities in industrial environments

Review of Interfaces for Industrial Human-Robot Interaction

A Novel Slot-Gated Model Combined With a Key Verb Context Feature for Task Request Understanding by Service Robots

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