Matthew Marge
Alexander I. Rudnicky
Skip Abstract Section
Abstract
Even without speech recognition errors, robots may face difficulties interpreting natural-language instructions. We present a method for robustly handling miscommunication between people and robots in task-oriented spoken dialogue. This capability is implemented in TeamTalk, a conversational interface to robots that supports detection and recovery from the situated grounding problems of referential ambiguity and impossible actions. We introduce a representation that detects these problems and a nearest-neighbor learning algorithm that selects recovery strategies for a virtual robot. When the robot encounters a grounding problem, it looks back on its interaction history to consider how it resolved similar situations. The learning method is trained initially on crowdsourced data but is then supplemented by interactions from a longitudinal user study in which six participants performed navigation tasks with the robot. We compare results collected using a general model to user-specific models and find that user-specific models perform best on measures of dialogue efficiency, while the general model yields the highest agreement with human judges. Our overall contribution is a novel approach to detecting and recovering from miscommunication in dialogue by including situated context, namely, information from a robot’s path planner and surroundings.
- Anne H. Anderson, Miles Bader, Ellen Gurman Bard, Elizabeth Boyle, Gwyneth Doherty, Simon Garrod, Stephen Isard, Jacqueline Kowtko, Jan McAllister, Jim Miller, Catherine Sotillo, Henry S. Thompson, and Regina Weinert. 1991. The HCRC map task corpus. Language and Speech 34, 4 (1991), 351--366.Google Scholar
Cross Ref
- Giulio Antoniol, Bruno Caprile, Alessandro Cimatti, and Roberto Fiutem. 1994. Experiencing real-life interactions with the experimental platform of MAIA. In Proceedings of the 1st European Workshop on Human Comfort and Security.Google Scholar
- Yoav Artzi and Luke Zettlemoyer. 2013. Weakly supervised learning of semantic parsers for mapping instructions to actions. Transactions of the Association for Computational Linguistics 1 (2013), 49--62.Google ScholarCross Ref
- Hideki Asoh, Yoichi Motomura, Futoshi Asano, Isao Hara, Satoru Hayamizu, Katsunobu Itou, Takio Kurita, Toshihiro Matsui, Nikos Vlassis, Roland Bunschoten, and Ben Kröse. 2001. Jijo-2: An office robot that communicates and learns. IEEE Intelligent Systems 16, 5 (2001), 46--55. Google ScholarDigital Library
- Stephen Balakirsky, Chris Scrapper, and Elena Messina. 2005. Mobility open architecture simulation and tools environment. In Proceedings of the Knowledge Intensive Multi-Agent Systems Conference (KIMAS’05).Google ScholarCross Ref
- Dhananjay Bansal and Mosur K. Ravishankar. 1998. New features for confidence annotation. In Proceedings of the 5th International Conference on Spoken Language Processing (ICSLP’98).Google Scholar
- Emanuele Bastianelli, Giuseppe Castellucci, Danilo Croce, Roberto Basili, and Daniele Nardi. 2017. Structured learning for spoken language understanding in human-robot interaction. The International Journal of Robotics Research 36, 5--7 (2017), 660--683. Google ScholarDigital Library
- Samuel Bayer, Christine Doran, and Bryan George. 2001. Exploring speech-enabled dialogue with the Galaxy communicator infrastructure. In Proceedings of the 1st International Conference on Human Language Technology Research (HLT’01). Google ScholarDigital Library
- Yonatan Bisk, Deniz Yuret, and Daniel Marcu. 2016. Natural language communication with robots. In Proceedings of NAACL-HLT’16.Google ScholarCross Ref
- Dan Bohus. 2007. Error Awareness and Recovery in Conversational Spoken Language Interfaces. Ph.D. Dissertation. Carnegie Mellon University, Pittsburgh, PA. Google ScholarDigital Library
- Dan Bohus and Eric Horvitz. 2010. On the challenges and opportunities of physically situated dialog. In Proceedings of the AAAI Fall Symposium on Dialog with Robots.Google Scholar
- Dan Bohus, Antoine Raux, Thomas K. Harris, Maxine Eskenazi, and Alexander I. Rudnicky. 2007. Olympus: An open-source framework for conversational spoken language interface research. In Proceedings of the NAACL-HLT Workshop on Bridging the Gap: Academic and Industrial Research in Dialog Technologies. Google ScholarDigital Library
- Dan Bohus and Alexander I. Rudnicky. 2002. Integrating Multiple Knowledge Sources for Utterance-Level Confidence Annotation in the CMU Communicator Spoken Dialog System. Technical Report. Carnegie Mellon University, Pittsburgh, PA.Google Scholar
- Dan Bohus and Alexander I. Rudnicky. 2009. The RavenClaw dialog management framework: Architecture and systems. Computer Speech and Language 23, 3 (2009), 332--361. Google ScholarDigital Library
- Dan Bohus, Chit W. Saw, and Eric Horvitz. 2014. Directions robot: In-the-wild experiences and lessons learned. In Proceedings of the 13th International Conference on Autonomous Agents and Multiagent Systems (AAMAS’14). Google ScholarDigital Library
- Abdeslam Boularias, Felix Duvallet, Jean Oh, and Anthony Stentz. 2016. Learning qualitative spatial relations for robotic navigation. In Proceedings of the 25th International Joint Conference on Artificial Intelligence (IJCAI’16). Google ScholarDigital Library
- Gies Bouwman, Janienke Sturm, and Louis Boves. 1999. Incorporating confidence measures in the Dutch train timetable information system developed in the ARISE project. In Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP’99). Google ScholarDigital Library
- Jack E. Bresenham. 1965. Algorithm for computer control of a digital plotter. IBM Systems Journal 4, 1 (1965), 25--30. Google ScholarDigital Library
- Alexander Broad, Jacob Arkin, Nathan Ratliff, Thomas Howard, and Brenna Argall. 2017. Real-time natural language corrections for assistive robotic manipulators. The International Journal of Robotics Research 36, 5--7 (2017), 684--698. Google ScholarDigital Library
- Guido Bugmann, Ewan Klein, Stanislao Lauria, and Theocharis Kyriacou. 2004. Corpus-based robotics: A route instruction example. In Proceedings of Intelligent Autonomous Systems.Google Scholar
- Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, José Neira, Ian Reid, and John J. Leonard. 2016. Past, present, and future of simultaneous localization and mapping: Towards the robust-perception age. IEEE Transactions on Robotics 32, 6 (2016), 1309--1332. Google ScholarDigital Library
- Stefano Carpin, Mike Lewis, Jijun Wang, Stephen Balakirsky, and Chris Scrapper. 2007. USARSim: A robot simulator for research and education. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’07).Google ScholarCross Ref
- Iñigo Casanueva, Thomas Hain, Heidi Christensen, Ricard Marxer, and Phil Green. 2015. Knowledge transfer between speakers for personalised dialogue management. In Proceedings of the 16th Annual SIGdial Meeting on Discourse and Dialogue (SIGdial’15).Google ScholarCross Ref
- Joyce Y. Chai, Rui Fang, Changsong Liu, and Lanbo She. 2016. Collaborative language grounding toward situated human-robot dialogue. AI Magazine 37, 4 (2016), 32--45.Google ScholarCross Ref
- Lin Chase. 1997. Error-Responsive Feedback Mechanisms for Speech Recognizers. Ph.D. Dissertation. Carnegie Mellon University, Pittsburgh, PA. Google ScholarDigital Library
- David L. Chen and Raymond J. Mooney. 2011. Learning to interpret natural language navigation instructions from observations. In Proceedings of the 25th AAAI Conference on Artificial Intelligence (AAAI’11). Google ScholarDigital Library
- Herbert H. Clark. 1996. Using Language. Cambridge University Press, New York, NY.Google Scholar
- Herbert H. Clark and Susan E. Brennan. 1991. Grounding in communication. Perspectives on Socially Shared Cognition. 127--149.Google Scholar
- Stephen Cox and Richard Rose. 1996. Confidence measures for the SWITCHBOARD database. In Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP’96). Google ScholarDigital Library
- Robin Deits, Stefanie Tellex, Pratiksha Thaker, Dimitar Simeonov, Thomas Kollar, and Nicholas Roy. 2013. Clarifying commands with information-theoretic human-robot dialog. Journal of Human-Robot Interaction 2, 2 (2013), 58--79. Google ScholarDigital Library
- Felix Duvallet, Matthew R. Walter, Thomas Howard, Sachithra Hemachandra, Jean Oh, Seth Teller, Nicholas Roy, and Anthony Stentz. 2016. Inferring maps and behaviors from natural language instructions. In Proceedings of the International Symposium on Experimental Robotics (ISER’16).Google ScholarCross Ref
- Juraj Dzifcak, Matthias Scheutz, Chitta Baral, and Paul Schermerhorn. 2009. What to do and how to do it: Translating natural language directives into temporal and dynamic logic representation for goal management and action execution. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’09). Google ScholarDigital Library
- Juan Fasola and Maja J. Matarić. 2013. Using semantic fields to model dynamic spatial relations in a robot architecture for natural language instruction of service robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’13).Google Scholar
- Terrence Fong, Charles Thorpe, and Charles Baur. 2003. Collaboration, dialogue, and human-robot interaction. In Robotics Research. 255--266.Google Scholar
- Mary Ellen Foster, Rachid Alami, Olli Gestranius, Oliver Lemon, Marketta Niemelä, Jean-Marc Odobez, and Amit Kumar Pandey. 2016. The MuMMER project: Engaging human-robot interaction in real-world public spaces. In Proceedings of the International Conference on Social Robotics (ICSR’16).Google ScholarCross Ref
- Mary Ellen Foster, Manuel Giuliani, Amy Isard, Colin Matheson, Jon Oberlander, and Alois Knoll. 2009. Evaluating description and reference strategies in a cooperative human-robot dialogue system. In Proceedings of the 21st International Joint Conference on Artificial Intelligence (IJCAI’09).Google ScholarDigital Library
- Benjamin Fransen, Vlad Morariu, Eric Martinson, Samuel Blisard, Matthew Marge, Scott Thomas, Alan Schultz, and Dennis Perzanowski. 2007. Using vision, acoustics, and natural language for disambiguation. In Proceedings of the 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI’07). Google ScholarDigital Library
- Lei Gao. 2005. Latin Squares in Experimental Design. Technical Report. Michigan State University, East Lansing, MI.Google Scholar
- Genevieve Gorrell, Ian Lewin, and Manny Rayner. 2002. Adding intelligent help to mixed-initiative spoken dialogue systems. In Proceedings of the 7th International Conference on Spoken Language Processing (ICSLP’02).Google Scholar
- Edward T. Hall. 1966. The Hidden Dimension. Doubleday 8 Co., New York, NY.Google Scholar
- Eui-Hong Han, George Karypis, and Vipin Kumar. 2001. Text categorization using weight adjusted k-nearest neighbor classification. In Proceedings of the Pacific-Asia Conference on Knowledge Discovery and Data Mining (PAKDD’01): Advances in Knowledge Discovery and Data Mining. Google ScholarDigital Library
- Stevan Harnad. 1990. The symbol grounding problem. Physica D: Nonlinear Phenomena 42 (1990), 335--346. Google ScholarDigital Library
- Thomas K. Harris and Alexander I. Rudnicky. 2007. TeamTalk: A platform for multi-human-robot dialog research in coherent real and virtual spaces. In Proceedings of the 22nd National Conference on Artificial Intelligence (AAAI’07). Google ScholarDigital Library
- David A. Harville. 1977. Maximum likelihood approaches to variance component estimation and to related problems. J. Amer. Statist. Assoc. 72, 358 (1977), 320--338.Google ScholarCross Ref
- Sachithra Hemachandra, Felix Duvallet, Thomas M. Howard, Nicholas Roy, Anthony Stentz, and Matthew R. Walter. 2015. Learning models for following natural language directions in unknown environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’15).Google Scholar
- Julian Hough and David Schlangen. 2016. Investigating fluidity for human-robot interaction with real-time, real-world grounding strategies. In Proceedings of the 17th Annual SIGdial Meeting on Discourse and Dialogue (SIGdial’16).Google ScholarCross Ref
- David Huggins-Daines, Mohit Kumar, Arthur Chan, Alan W. Black, Mosur Ravishankar, and Alexander I. Rudnicky. 2006. PocketSphinx: A free, real-time continuous speech recognition system for hand-held devices. In Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP’06).Google Scholar
- Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, and Daniela Rus. 2015. Recovering from failure by asking for help. Autonomous Robots 39, 3 (2015), 347--362. Google ScholarDigital Library
- Holger Knublauch, Ray W. Fergerson, Natalya F. Noy, and Mark A. Musen. 2004. The Protégé OWL plugin: An open development environment for semantic web applications. In Proceedings of the International Semantic Web Conference (ISWC’04). Google ScholarDigital Library
- Thomas Kollar, Stefanie Tellex, Deb Roy, and Nicholas Roy. 2010. Toward understanding natural language directions. In Proceedings of the 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI’10). Google ScholarDigital Library
- Theodora Koulouri and Stanislao Lauria. 2009. A corpus-based analysis of route instructions in human-robot interaction. In Proceedings of Towards Autonomous Robotic Systems (TAROS’09).Google Scholar
- Emiel Krahmer, Marc Swerts, Mariet Theune, and Mieke Weegels. 2001. Error detection in spoken human-machine interaction. International Journal of Speech Technology 4 (2001), 19--30.Google ScholarCross Ref
- Jayant Krishnamurthy and Thomas Kollar. 2013. Jointly learning to parse and perceive: Connecting natural language to the physical world. Transactions of the Association for Computational Linguistics 1 (2013), 193--206.Google ScholarCross Ref
- Geert-Jan M. Kruijff, Pierre Lison, Trevor Benjamin, Henrik Jacobsson, and Nick A. Hawes. 2007. Incremental, multi-level processing for comprehending situated dialogue in human-robot interaction. In Proceedings of the Symposium on Language and Robots.Google Scholar
- Geert-Jan M. Kruijff, Pierre Lison, Trevor Benjamin, Henrik Jacobsson, Hendrik Zender, Ivana Kruijff-Korbayová, and Nick Hawes. 2010. Situated dialogue processing for human-robot interaction. Cognitive Systems (2010), 311--364.Google Scholar
- Geert-Jan M. Kruijff, Hendrik Zender, Patric Jensfelt, and Henrik I. Christensen. 2007. Situated dialogue and spatial organization: What, where…and why? International Journal of Advanced Robotic Systems 4, 1 (2007), 125--138.Google ScholarCross Ref
- Stanislao Lauria, Guido Bugmann, Theocharis Kyriacou, Johan Bos, and Ewan Klein. 2002. Converting natural language route instructions into robot executable procedures. In Proceedings of the 11th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN’02).Google ScholarCross Ref
- Séverin Lemaignan, Raquel Ros, Lorenz Mösenlechner, Rachid Alami, and Michael Beetz. 2010. ORO, a knowledge management platform for cognitive architectures in robotics. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2’0).Google ScholarCross Ref
- Séverin Lemaignan, Raquel Ros, E. Akin Sisbot, Rachid Alami, and Michael Beetz. 2012. Grounding the interaction: Anchoring situated discourse in everyday human-robot interaction. International Journal of Social Robotics 4, 2 (2012), 181--199.Google ScholarCross Ref
- Oliver Lemon, Anne Bracy, Alexander Gruenstein, and Stanley Peters. 2001. A multi-modal dialogue system for human-robot conversation. In Proceedings of the 2nd North American Chapter of the Association for Computational Linguistics Conference (NAACL’01).Google Scholar
- Patrick Lester. 2005. A* Pathfinding for Beginners. https://www.gamedev.net/articles/programming/artificial-intelligence/a-pathfinding-for-beginners-r2003/.Google Scholar
- Michael Levit and Deb Roy. 2007. Interpretation of spatial language in a map navigation task. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 37, 3 (2007), 667--679. Google ScholarDigital Library
- Diane J. Litman, Julia B. Hirschberg, and Marc Swerts. 2000. Predicting automatic speech recognition performance using prosodic cues. In Proceedings of the 1st North American Chapter of the Association for Computational Linguistics Conference (NAACL’00). Google ScholarDigital Library
- Lorenzo Lucignano, Francesco Cutugno, Silvia Rossi, and Alberto Finzi. 2013. A dialogue system for multimodal human-robot interaction. In Proceedings of the 15th ACM International Conference on Multimodal Interaction (ICMI’13). Google ScholarDigital Library
- James MacGlashan, Monica Babeş-Vroman, Marie desJardins, Michael L. Littman, Smaranda Muresan, Shawn Squire, Stefanie Tellex, Dilip Arumugam, and Lei Yang. 2015. Grounding English commands to reward functions. In Proceedings of Robotics: Science and Systems (RSS’15).Google ScholarCross Ref
- Matt MacMahon, Brian Stankiewicz, and Benjamin Kuipers. 2006. Walk the talk: Connecting language, knowledge, and action in route instructions. In Proceedings of the 21st National Conference on Artificial Intelligence (AAAI’06). Google ScholarDigital Library
- Matthew Marge. 2015. Miscommunication Detection and Recovery for Spoken Dialogue Systems in Physically Situated Contexts. Ph.D. Dissertation. Carnegie Mellon University, Pittsburgh, PA.Google Scholar
- Matthew Marge, Aasish Pappu, Benjamin Frisch, Thomas K. Harris, and Alexander I. Rudnicky. 2009. Exploring spoken dialog interaction in human-robot teams. In Proceedings of Robots, Games, and Research: Success Stories in USARSim IROS Workshop. Google ScholarDigital Library
- Matthew Marge, Aaron Powers, Jonathan Brookshire, Trevor Jay, Odest C. Jenkins, and Christopher Geyer. 2011. Comparing heads-up, hands-free operation of ground robots to teleoperation. In Proceedings of Robotics: Science and Systems (RSS’11).Google ScholarCross Ref
- Matthew Marge and Alexander I. Rudnicky. 2010. Comparing spoken language route instructions for robots across environment representations. In Proceedings of the 11th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGdial’10). Google ScholarDigital Library
- Matthew Marge and Alexander I. Rudnicky. 2011. The TeamTalk corpus: Route instructions in open spaces. In Proceedings of the RSS Workshop on Grounding Human-Robot Dialog for Spatial Tasks.Google Scholar
- Matthew Marge and Alexander I. Rudnicky. 2011. Towards overcoming miscommunication in situated dialogue by asking questions. In Proceedings of the AAAI Fall Symposium on Building Representations of Common Ground with Intelligent Agents.Google Scholar
- Matthew Marge and Alexander I. Rudnicky. 2015. Miscommunication recovery in physically situated dialogue. In Proceedings of the 16th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGdial’15).Google Scholar
- Cynthia Matuszek, Dieter Fox, and Karl Koscher. 2010. Following directions using statistical machine translation. In Proceedings of the 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI’10). Google ScholarDigital Library
- Cynthia Matuszek, Evan Herbst, Luke Zettlemoyer, and Dieter Fox. 2013. Learning to parse natural language commands to a robot control system. In Proceedings of the International Symposium on Experimental Robotics (ISER’13).Google ScholarCross Ref
- Nikolaos Mavridis. 2015. A review of verbal and non-verbal human--robot interactive communication. Robotics and Autonomous Systems 63 (2015), 22--35. Google ScholarDigital Library
- Nikolaos Mavridis and Deb Roy. 2006. Grounded situation models for robots: Where words and percepts meet. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’06).Google ScholarCross Ref
- Raveesh Meena, José Lopes, Gabriel Skantze, and Joakim Gustafson. 2015. Automatic detection of miscommunication in spoken dialogue systems. In Proceedings of the 16th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGdial’15).Google ScholarCross Ref
- Raveesh Meena, Gabriel Skantze, and Joakim Gustafson. 2012. A data-driven approach to understanding spoken route directions in human-robot dialogue. In Proceedings of the 13th Annual Conference of the International Speech Communication Association (Interspeech’12).Google ScholarCross Ref
- Raveesh Meena, Gabriel Skantze, and Joakim Gustafson. 2014. Data-driven models for timing feedback responses in a map task dialogue system. Computer Speech 8 Language 28, 4 (2014), 903--922.Google Scholar
- Hongyuan Mei, Mohit Bansal, and Matthew R. Walter. 2016. Listen, attend, and walk: Neural mapping of navigational instructions to action sequences. In Proceedings of the 30th AAAI Conference on Artificial Intelligence (AAAI’16). Google ScholarDigital Library
- Tom M. Mitchell. 1997. Machine Learning. McGraw Hill, New York, NY. Google ScholarDigital Library
- Marius Muja and David G. Lowe. 2014. Scalable nearest neighbor algorithms for high dimensional data. IEEE Transactions on Pattern Analysis and Machine Intelligence 36, 11 (2014), 2227--2240.Google ScholarCross Ref
- Aishwarya Padmakumar, Jesse Thomason, and Raymond J. Mooney. 2017. Integrated learning of dialog strategies and semantic parsing. In Proceedings of the 15th Conference of the European Chapter of the Association for Computational Linguistics (EACL’17).Google Scholar
- Tim Paek. 2003. Toward a taxonomy of communication errors. In Proceedings of the ISCA Workshop on Error Handling in Spoken Dialogue Systems.Google Scholar
- Ioannis Papaioannou and Oliver Lemon. 2017. Combining chat and task-based multimodal dialogue for more engaging HRI: A scalable method using reinforcement learning. In Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction (HRI LBR’17). Google ScholarDigital Library
- Aasish Pappu and Alexander I. Rudnicky. 2012. The structure and generality of spoken route instructions. In Proceedings of the 13th Annual Meeting of the Special Interest Group on Discourse and Dialogue (SIGdial’12). Google ScholarDigital Library
- Vittorio Perera and Manuela Veloso. 2015. Handling complex commands as service robot task requests. In Proceedings of the 24th International Joint Conference on Artificial Intelligence (IJCAI’15). Google ScholarDigital Library
- Dennis Perzanowski, Derek Brock, William Adams, Magdalena Bugajska, Alan C. Schultz, J. Gregory Trafton, Samuel Blisard, and Marjorie Skubic. 2003. Finding the FOO: A pilot study for a multimodal interface. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC’03).Google ScholarCross Ref
- Vasumathi Raman, Constantine Lignos, Cameron Finucane, Kenton C. T. Lee, Mitch Marcus, and Hadas Kress-Gazit. 2013. Sorry Dave, I’m afraid I can’t do that: Explaining unachievable robot tasks using natural language. In Proceedings of Robotics: Science and Systems (RSS’13).Google ScholarCross Ref
- Antoine Raux and Maxine Eskenazi. 2004. Non-native users in the Let’s Go!! Spoken dialogue system: Dealing with linguistic mismatch. In Proceedings of the Human Language Technology Conference of the North American Chapter of the Association for Computational Linguistics (HLT-NAACL’04).Google Scholar
- Antoine Raux and Maxine Eskenazi. 2008. Optimizing endpointing thresholds using dialogue features in a spoken dialogue system. In Proceedings of the 9th SIGdial Workshop on Discourse and Dialogue (SIGdial’08). Google ScholarDigital Library
- Shaoqing Ren, Kaiming He, Ross Girshick, and Jian Sun. 2015. Faster R-CNN: Towards real-time object detection with region proposal networks. In Proceedings of the Neural Information Processing Systems Conference (NIPS’15). Google ScholarDigital Library
- Stephanie Rosenthal, Joydeep Biswas, and Manuela Veloso. 2010. An effective personal mobile robot agent through symbiotic human-robot interaction. In Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS’10). Google ScholarDigital Library
- Alexander I. Rudnicky, Aasish Pappu, Peng Li, and Matthew Marge. 2010. Instruction taking in the TeamTalk system. In Proceedings of the AAAI Fall Symposium on Dialog with Robots.Google Scholar
- Rubén San-Segundo, Bryan Pellom, Wayne Ward, and José M. Pardo. 2000. Confidence measures for dialogue management in the CU communicator system. In Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP’00). Google ScholarDigital Library
- Matthias Scheutz, Rehj Cantrell, and Paul Schermerhorn. 2011. Toward humanlike task-based dialogue processing for human robot interaction. AI Magazine 32, 4 (2011), 77--84.Google ScholarDigital Library
- David Schlangen. 2004. Causes and strategies for requesting clarification in dialogue. In Proceedings of the 5th SIGdial Workshop on Discourse and Dialogue (SIGdial’04).Google Scholar
- Michael F. Schober. 2009. Spatial dialogue between partners with mismatched abilities. Spatial Language and Dialogue. 23--39.Google Scholar
- Stephanie Schuldes, Michael Roth, Anette Frank, and Michael Strube. 2009. Creating an annotated corpus for generating walking directions. In Proceedings of the ACL-IJCNLP Workshop on Language Generation and Summarisation. Google ScholarDigital Library
- Iulian Vlad Serban, Ryan Lowe, Peter Henderson, Laurent Charlin, and Joelle Pineau. 2018. A survey of available corpora for building data-driven dialogue systems: The journal version. Dialogue and Discourse 9, 1 (2018).Google Scholar
- Hui Shi and Bernd Krieg-Brückner. 2008. Modelling route instructions for robust human-robot interaction on navigation tasks. International Journal of Software and Informatics 2, 1 (2008), 33--60.Google Scholar
- Hui Shi and Thora Tenbrink. 2009. Telling Rolland where to go: HRI dialogues on route navigation. Spatial Language and Dialogue (2009), 177--189.Google Scholar
- Nobuyuki Shimizu and Andrew Haas. 2009. Learning to follow navigational route instructions. In Proceedings of the 21st International Joint Conference on Artificial Intelligence (IJCAI’09). Google ScholarDigital Library
- Gabriel Skantze. 2005. Exploring human error recovery strategies: Implications for spoken dialogue systems. Speech Communication 45, 3 (2005), 325--341.Google ScholarCross Ref
- Gabriel Skantze. 2007. Error Handling in Spoken Dialogue Systems: Managing Uncertainty, Grounding and Miscommunication. Ph.D. Dissertation. KTH Royal Institute of Technology, Stockholm, Sweden.Google Scholar
- Gabriel Skantze. 2007. Making grounding decisions: Data-driven estimation of dialogue costs and confidence thresholds. In Proceedings of the 8th SIGdial Workshop on Discourse and Dialogue (SIGdial’07).Google Scholar
- Marjorie Skubic, Dennis Perzanowski, Samuel Blisard, Alan Schultz, William Adams, Magda Bugajska, and Derek Brock. 2004. Spatial language for human-robot dialogs. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews 34, 2 (2004), 154--167. Google ScholarDigital Library
- Dimitris Spiliotopoulos, Ion Androutsopoulos, and Constantine D. Spyropoulos. 2001. Human-robot interaction based on spoken natural language dialogue. In Proceedings of the European Workshop on Service and Humanoid Robots.Google Scholar
- Laura Stoia, Darla Magdalene Shockley, Donna K. Byron, and Eric Fosler-Lussier. 2008. SCARE: A situated corpus with annotated referring expressions. In Proceedings of the Language Resources and Evaluation Conference (LREC’08).Google Scholar
- Stefanie Tellex, Thomas Kollar, Steven Dickerson, Matthew R. Walter, Ashis Gopal Banerjee, Seth Teller, and Nicholas Roy. 2011. Understanding natural language commands for robotic navigation and mobile manipulation. In Proceedings of the 25th AAAI Conference on Artificial Intelligence (AAAI’11). Google ScholarDigital Library
- Thora Tenbrink, Robert J. Ross, Kavita E. Thomas, Nina Dethlefs, and Elena Andonova. 2010. Route instructions in map-based human-human and human-computer dialogue: A comparative analysis. Journal of Visual Languages 8 Computing 21, 5 (2010), 292--309. Google ScholarDigital Library
- Moritz Tenorth and Michael Beetz. 2013. KnowRob: A knowledge processing infrastructure for cognition-enabled robots. The International Journal of Robotics Research 32, 5 (2013), 566--590. Google ScholarDigital Library
- Jesse Thomason, Shiqi Zhang, Raymond Mooney, and Peter Stone. 2015. Learning to interpret natural language commands through human-robot dialog. In Proceedings of the 24th International Joint Conference on Artificial Intelligence (IJCAI’15). Google ScholarDigital Library
- Andrea Vanzo, Danilo Croce, Emanuele Bastianelli, Guglielmo Gemignani, Roberto Basili, and Daniele Nardi. 2017. Dialogue with robots to support symbiotic autonomy. In Dialogues with Social Robots. 331--342.Google Scholar
- Leslie Versweyveld. 1998. Voice-controlled surgical robot ready to assist in minimally invasive heart surgery. Virtual Medical Worlds Monthly.Google Scholar
- Adam Vogel and Dan Jurafsky. 2010. Learning to follow navigational directions. In Proceedings of the 48th Annual Meeting of the Association for Computational Linguistics (ACL’10). Google ScholarDigital Library
- Marilyn A. Walker, Diane J. Litman, Candace A. Kamm, and Alicia Abella. 1998. Evaluating spoken dialogue agents with PARADISE: Two case studies. Computer Speech 8 Language 12, 4 (1998), 317--347.Google Scholar
- Marilyn A. Walker, Stephen J. Whittaker, Amanda Stent, Preetam Maloor, Johanna Moore, Michael Johnston, and Gunaranjan Vasireddy. 2004. Generation and evaluation of user tailored responses in multimodal dialogue. Cognitive Science 28 (2004), 811--840.Google ScholarCross Ref
- Marilyn A. Walker, Jerry Wright, and Irene Langkilde. 2000. Using natural language processing and discourse features to identify understanding errors in a spoken dialogue system. In Proceedings of the 17th International Conference on Machine Learning (ICML’00). Google ScholarDigital Library
- Tom Williams and Matthias Scheutz. 2017. Resolution of referential ambiguity in human-robot dialogue using Dempster-Shafer theoretic pragmatics. In Proceedings of Robotics: Science and Systems (RSS’17).Google ScholarCross Ref
- Tom Williams, Fereshta Yazdani, Prasanth Suresh, Matthias Scheutz, and Michael Beetz. 2018. Dempster-Shafer theoretic resolution of referential ambiguity. Autonomous Robots (2018), 1--26.Google Scholar
- Teresa Zollo. 1999. A study of human dialogue strategies in the presence of speech recognition errors. In Proceedings of the AAAI Fall Symposium on Psychological Models of Communication in Collaborative Systems.Google Scholar
Index Terms
- Miscommunication Detection and Recovery in Situated Human–Robot Dialogue
Recommendations
Applying politeness maxims in social robotics polite dialogue
HRI '12: Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot InteractionAn important element of human-robot interaction, as with inter-human interaction, is conversation. Having previously suggested the Gricean maxims as suitable guidelines for social robotics dialogue, we discovered that a preferable alternative set of ...
Human-robot collaborative tutoring using multiparty multimodal spoken dialogue
HRI '14: Proceedings of the 2014 ACM/IEEE international conference on Human-robot interactionIn this paper, we describe a project that explores a novel experimental setup towards building a spoken, multi-modally rich, and human-like multiparty tutoring robot. A human-robot interaction setup is designed, and a human-human dialogue corpus is ...
Situated Open World Reference Resolution for Human-Robot Dialogue
HRI '16: The Eleventh ACM/IEEE International Conference on Human Robot InteractionA robot participating in natural dialogue with a human interlocutor may need to discuss, reason about, or initiate actions concerning dialogue-referenced entities. To do so, the robot must first identify or create new representations for those entities, ...
Comments