相关论文: WHY: Natural Explanations from a Robot Navigator

Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…

With the growing capabilities of intelligent systems, the integration of robots in our everyday life is increasing. However, when interacting in such complex human environments, the occasional failure of robotic systems is inevitable. The…

When giving directions to a lost-looking tourist, would you first reference the street-names, cardinal directions, landmarks, or simply tell them to walk five hundred metres in one direction then turn left? Depending on the circumstances,…

As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative…

As robots are deployed in human spaces, it is important that they are able to coordinate their actions with the people around them. Part of such coordination involves ensuring that people have a good understanding of how a robot will act in…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

We propose a multi-head attention mechanism as a blending layer in a neural network model that translates natural language to a high level behavioral language for indoor robot navigation. We follow the framework established by (Zang et al.,…

In social robotics, robots needs to be able to be understood by humans. Especially in collaborative tasks where they have to share mutual knowledge. For instance, in an educative scenario, learners share their knowledge and they must adapt…

This paper identifies stylistic differences in instruction-giving observed in a corpus of human-robot dialogue. Differences in verbosity and structure (i.e., single-intent vs. multi-intent instructions) arose naturally without restrictions…

Reinforcement learning techniques successfully generate convincing agent behaviors, but it is still difficult to tailor the behavior to align with a user's specific preferences. What is missing is a communication method for the system to…

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…

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…

Robots and self-driving vehicles face a number of challenges when navigating through real environments. Successful navigation in dynamic environments requires prioritizing subtasks and monitoring resources. Animals are under similar…

As knowledge graph has the potential to bridge the gap between commonsense knowledge and reasoning over actionable capabilities of mobile robotic platforms, incorporating knowledge graph into robotic system attracted increasing attention in…

In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…

Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of…

Humans understand language based on the rich background knowledge about how the physical world works, which in turn allows us to reason about the physical world through language. In addition to the properties of objects (e.g., boats require…

Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…

There is a need for socially assistive robots (SARs) to provide transparency in their behavior by explaining their reasoning. Additionally, the reasoning and explanation should represent the user's preferences and goals. To work towards…

We explore the use of inner speech as a mechanism to enhance transparency and trust in social robots for dietary advice. In humans, inner speech structures thought processes and decision-making; in robotics, it improves explainability by…