相关论文: Understanding User Instructions by Utilizing Open …
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…
A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
The speed and accuracy with which robots are able to interpret natural language is fundamental to realizing effective human-robot interaction. A great deal of attention has been paid to developing models and approximate inference algorithms…
The requirement for autonomous robots to exhibit higher-level cognitive skills by planning and adapting in an ever-changing environment is indeed a great challenge for the AI community. Progress has been made in the automated planning…
During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…
Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environments. While existing research primarily focuses on what tasks…
As robots become increasingly integrated into everyday environments, intuitive communication paradigms such as natural language and end-user programming have become indispensable for specifying autonomous robot behavior. However, these…
The increasing level of autonomy of robots poses challenges of trust and social acceptance, especially in human-robot interaction scenarios. This requires an interpretable implementation of robotic cognitive capabilities, possibly based on…
Human-AI policy specification is a novel procedure we define in which humans can collaboratively warm-start a robot's reinforcement learning policy. This procedure is comprised of two steps; (1) Policy Specification, i.e. humans specifying…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
This paper presents a framework that can interpret humans' navigation commands containing temporal elements and directly translate their natural language instructions into robot motion planning. Central to our framework is utilizing Large…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
When a robot learns from human examples, most approaches assume that the human partner provides examples of optimal behavior. However, there are applications in which the robot learns from non-expert humans. We argue that the robot should…
In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…
Natural language object retrieval is a highly useful yet challenging task for robots in human-centric environments. Previous work has primarily focused on commands specifying the desired object's type such as "scissors" and/or visual…
Natural-language-facilitated human-robot cooperation (NLC) refers to using natural language (NL) to facilitate interactive information sharing and task executions with a common goal constraint between robots and humans. Recently, NLC…
Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…
It is highly desirable for robots that work alongside humans to be able to understand instructions in natural language. Existing language conditioned imitation learning models directly predict the actuator commands from the image…