相关论文: Enabling Robots to Understand Incomplete Natural L…

Consider a robot tasked with tidying a desk with a meticulously constructed Lego sports car. A human may recognize that it is not appropriate to disassemble the sports car and put it away as part of the "tidying." How can a robot reach that…

This paper focuses on how to take advantage of external relational knowledge to improve machine reading comprehension (MRC) with multi-task learning. Most of the traditional methods in MRC assume that the knowledge used to get the correct…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

Robots often fail at everyday tasks because instructions skip commonsense details like hidden preconditions and small subgoals. Traditional symbolic planners need these details to be written explicitly, which is time consuming and often…

Commonsense reasoning deals with the implicit knowledge that is well understood by humans and typically acquired via interactions with the world. In recent times, commonsense reasoning and understanding of various LLMs have been evaluated…

Commonsense knowledge is essential for advancing natural language processing (NLP) by enabling models to engage in human-like reasoning, which requires a deeper understanding of context and often involves making inferences based on implicit…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

Commonsense reasoning is an appealing topic in natural language processing (NLP) as it plays a fundamental role in supporting the human-like actions of NLP systems. With large-scale language models as the backbone, unsupervised pre-training…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…

Commonsense reasoning (CSR) requires the model to be equipped with general world knowledge. While CSR is a language-agnostic process, most comprehensive knowledge sources are in few popular languages, especially English. Thus, it remains…

Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challenging due to (1) complex structures including a wide variety…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…

In this paper, we aim to extract commonsense knowledge to improve machine reading comprehension. We propose to represent relations implicitly by situating structured knowledge in a context instead of relying on a pre-defined set of…

Service robots need common-sense knowledge to help humans in everyday situations as it enables them to understand the context of their actions. However, approaches that use ontologies face a challenge because common-sense knowledge is often…

When operating in human environments, robots need to handle complex tasks while both adhering to social norms and accommodating individual preferences. For instance, based on common sense knowledge, a household robot can predict that it…

Humans use commonsense reasoning (CSR) implicitly to produce natural and coherent responses in conversations. Aiming to close the gap between current response generation (RG) models and human communication abilities, we want to understand…

Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the…

Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…

The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…