Related papers: Formalising Natural Language Quantifiers for Human…
Recent years have seen an increasing number of applications that have a natural language interface, either in the form of chatbots or via personal assistants such as Alexa (Amazon), Google Assistant, Siri (Apple), and Cortana (Microsoft).…
We propose and demonstrate the task of giving natural language summaries of the actions of a robotic agent in a virtual environment. We explain why such a task is important, what makes it difficult, and discuss how it might be addressed. To…
Quantified Boolean logic results from adding operators to Boolean logic for existentially and universally quantifying variables. This extends the reach of Boolean logic by enabling a variety of applications that have been explored over the…
When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…
Deciding formulas mixing arithmetic and uninterpreted predicates is of practical interest, notably for applications in verification. Some decision procedures consist in building by structural induction an automaton that recognizes the set…
In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…
Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language…
We present a system to translate natural language sentences to formulas in a formal or a knowledge representation language. Our system uses two inverse lambda-calculus operators and using them can take as input the semantic representation…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…
Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…
In this paper, we extended the method proposed in [21] to enable humans to interact naturally with autonomous agents through vocal and textual conversations. Our extended method exploits the inherent capabilities of pre-trained large…
We present Flipper, a natural language interface for describing high-level task specifications for robots that are compiled into robot actions. Flipper starts with a formal core language for task planning that allows expressing rich…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code generation approach that converts complex high-level…
Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text…
In this paper we provide a first analysis of the research questions that arise when dealing with the problem of communicating pieces of formal argumentation through natural language interfaces. It is a generally held opinion that formal…
We study the logic obtained by endowing the language of first-order arithmetic with second-order measure quantifiers. This new kind of quantification allows us to express that the argument formula is true in a certain portion of all…
We introduce AI rationalization, an approach for generating explanations of autonomous system behavior as if a human had performed the behavior. We describe a rationalization technique that uses neural machine translation to translate…