This paper presents a learning-based framework named SMARTTALK for natural-language human-robot interaction (HRI). The primary goal of this framework is to enable non-expert users to control and program a mobile robot using natural language commands. SMARTTALK is modality-agnostic, and is capable of integrating with both speech and non-speech (e.g., gesture-based) communication. Initially, robots using this mechanism are equipped with a limited vocabulary of primitive commands and functionality; however, through extended use and interaction, the robots are able to learn new commands and adapt to user's behaviors and habits. This makes the proposed framework highly desirable for long-term deployment in a variety of HRI tasks. We present the design of this framework and experimental data on a number of realistic scenarios to evaluate its performance. A qualitative experiment on a robotic platform is also presented.
|Original language||English (US)|
|Title of host publication||Proceedings - 2016 13th Conference on Computer and Robot Vision, CRV 2016|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||7|
|State||Published - Dec 28 2016|
|Event||13th Conference on Computer and Robot Vision, CRV 2016 - Victoria, Canada|
Duration: Jun 1 2016 → Jun 3 2016
|Name||Proceedings - 2016 13th Conference on Computer and Robot Vision, CRV 2016|
|Other||13th Conference on Computer and Robot Vision, CRV 2016|
|Period||6/1/16 → 6/3/16|
Bibliographical notePublisher Copyright:
© 2016 IEEE.