Situated Spoken Dialogue with Robots Using Active Learning

In a human-robot spoken dialogue, the robot may misunderstand an ambiguous command from the user, such as 'Place the cup down (on the table)', thus running the risk of an accident. Although asking confirmation questions before the execution of any motion will decrease the risk of such fail...

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Bibliographic Details
Published inAdvanced robotics Vol. 25; no. 17; pp. 2207 - 2232
Main Authors Sugiura, Komei, Iwahashi, Naoto, Kawai, Hisashi, Nakamura, Satoshi
Format Journal Article
LanguageEnglish
Published Taylor & Francis Group 01.01.2011
Subjects
ACTIVE LEARNING
Commands
CONFIDENCE
Learning
Logistics
OBJECT MANIPULATION DIALOGUE
Regression
Risk
ROBOT LANGUAGE ACQUISITION
Robots
Running
Tables (data)
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Summary:In a human-robot spoken dialogue, the robot may misunderstand an ambiguous command from the user, such as 'Place the cup down (on the table)', thus running the risk of an accident. Although asking confirmation questions before the execution of any motion will decrease the risk of such failure, the user will find it more convenient if confirmation questions are not used in trivial situations. This paper proposes a method for estimating ambiguity in commands by introducing an active learning scheme with Bayesian logistic regression to human-robot spoken dialogue. We conduct physical experiments in which a user and a manipulator-based robot communicate using spoken language to manipulate objects.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0169-1864
1568-5535
DOI:10.1163/016918611X595044