Teaching robots generalisable hierarchical tasks through natural language instruction
Suddrey, Gavin, Lehnert, Christopher, Eich, Markus, Maire, Frederic D., & Roberts, Jonathan M. (2016) Teaching robots generalisable hierarchical tasks through natural language instruction. IEEE Robotics and Automation Letters. (In Press)
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Natural language provides a convenient means of communicating information, and as such, is an ideal medium for enabling non-expert users to teach robots novel tasks. However in order to take advantage of natural language, a series of challenges must first be overcome. These challenges include the need to
a) generalise learnt tasks to novel scenarios without retraining,
b) resolve problems encountered during task execution, and
c) derive implicit information from knowledge about the domain.
To solve these challenges, this paper presents a novel approach to learning complex hierarchical tasks through natural language instruction, which not only allows learnt tasks to be generalised to novel situations without the need for retraining, but also enables an agent to derive implicit information from domain knowledge. Additionally, the approach presented in this paper enables the agent to infer task properties, such as preconditions and effects, directly from the explanation of the task flow. We validate our approach by demonstrating an implementation of our algorithms both on a simulated agent, as well as a Baxter robot. In each case, the agent is provided with a small set of primitive tasks for manipulating its workspace. From these primitives, we demonstrate the ability to teach the agent increasing complex tasks, including tasks of table cleaning, solely through natural language instructions.
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|Item Type:||Journal Article|
|Keywords:||Human-Robot Interaction, Planning, Scheduling and Coordination, Autonomous Agents|
|Divisions:||Current > Research Centres > ARC Centre of Excellence for Robotic Vision
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||IEEE (Institute of Electrical and Electronics Engineers)|
|Deposited On:||01 Aug 2016 01:44|
|Last Modified:||07 Aug 2016 06:32|
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