NDLI: Grounded Situation Models for Robots: Where words and percepts meet

Content Provider	IEEE Xplore Digital Library
Author	Mavridis, N. Roy, D.
Copyright Year	2006
Description	Author affiliation: Cognitive Machines Group, MIT Media Lab., Cambridge, MA (Mavridis, N.; Roy, D.)
Abstract	Our long-term objective is to develop robots that engage in natural language-mediated cooperative tasks with humans. To support this goal, we are developing an amodal representation and associated processes which is called a grounded situation model (GSM). We are also developing a modular architecture in which the GSM resides in a centrally located module, around which there are language, perception, and action-related modules. The GSM acts as a sensor-updated "structured blackboard", that serves as a workspace with contents similar to a "theatrical stage" in the robot's "mind", which might be filled in with present, past or imagined situations. Two main desiderata drive the design of the GSM: first, "parsing" situations into ontological types and relations that reflect human language semantics, and second, allowing bidirectional translation between sensory-derived data/expectations and linguistic descriptions. We present an implemented system that allows of a range of conversational and assistive behavior by a manipulator robot. The robot updates beliefs (held in the GSM) about its physical environment, the human user, and itself, based on a mixture of linguistic, visual and proprioceptive evidence. It can answer basic questions about the present or past and also perform actions through verbal interaction. Most importantly, a novel contribution of our approach is the robot's ability for seamless integration of both language- and sensor-derived information about the situation: for example, the system can acquire parts of situations either by seeing them or by "imagining" them through descriptions given by the user: "There is a red ball at the left". These situations can later be used to create mental imagery and sensory expectations, thus enabling the aforementioned bidirectionality
Starting Page	4690
Ending Page	4697
File Size	591263
Page Count	8
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282258
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems GSM Intelligent robots Cognitive robotics Laboratories Human robot interaction Humanoid robots Natural languages Ground support Ontologies
Content Type	Text
Resource Type	Article

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