Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation
We describe a new model for understanding hierarchical natural language commands for robot navigation and manipulation. The model has three components: a semantic structure that captures the hierarchical structure of language; a cost function that maps the command's semantic structure to the ro...
| Main Authors: | , , , , , , |
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2011
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| Online Access: | http://hdl.handle.net/1721.1/60883 |
| _version_ | 1826193638372147200 |
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| author | Kollar, Thomas Dickerson, Steven Tellex, Stefanie Banerjee, Ashis Gopal Walter, Matthew R. Teller, Seth Roy, Nicholas |
| author2 | Nick Roy |
| author_facet | Nick Roy Kollar, Thomas Dickerson, Steven Tellex, Stefanie Banerjee, Ashis Gopal Walter, Matthew R. Teller, Seth Roy, Nicholas |
| author_sort | Kollar, Thomas |
| collection | MIT |
| description | We describe a new model for understanding hierarchical natural language commands for robot navigation and manipulation. The model has three components: a semantic structure that captures the hierarchical structure of language; a cost function that maps the command's semantic structure to the robot's sensorimotor capabilities; and an efficient search method for finding the lowest-cost plan. We present a proof-of-concept system that carries out navigation commands in a simulated setting. |
| first_indexed | 2024-09-23T09:42:18Z |
| id | mit-1721.1/60883 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T09:42:18Z |
| publishDate | 2011 |
| record_format | dspace |
| spelling | mit-1721.1/608832019-04-10T21:58:16Z Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation Kollar, Thomas Dickerson, Steven Tellex, Stefanie Banerjee, Ashis Gopal Walter, Matthew R. Teller, Seth Roy, Nicholas Nick Roy Robotics, Vision & Sensor Networks graphical models SDC ESDC grounding We describe a new model for understanding hierarchical natural language commands for robot navigation and manipulation. The model has three components: a semantic structure that captures the hierarchical structure of language; a cost function that maps the command's semantic structure to the robot's sensorimotor capabilities; and an efficient search method for finding the lowest-cost plan. We present a proof-of-concept system that carries out navigation commands in a simulated setting. 2011-02-02T22:45:06Z 2011-02-02T22:45:06Z 2011-02-01 http://hdl.handle.net/1721.1/60883 MIT-CSAIL-TR-2011-007 2 p. application/pdf |
| spellingShingle | graphical models SDC ESDC grounding Kollar, Thomas Dickerson, Steven Tellex, Stefanie Banerjee, Ashis Gopal Walter, Matthew R. Teller, Seth Roy, Nicholas Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation |
| title | Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation |
| title_full | Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation |
| title_fullStr | Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation |
| title_full_unstemmed | Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation |
| title_short | Towards Understanding Hierarchical Natural Language Commands for Robotic Navigation and Manipulation |
| title_sort | towards understanding hierarchical natural language commands for robotic navigation and manipulation |
| topic | graphical models SDC ESDC grounding |
| url | http://hdl.handle.net/1721.1/60883 |
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