NDLI: Understanding and executing instructions for everyday manipulation tasks from the World Wide Web

Content Provider	IEEE Xplore Digital Library
Author	Tenorth, M. Nyga, D. Beetz, M.
Copyright Year	2010
Description	Author affiliation: Intelligent Autonomous Systems, Technische Universität München, Germany (Tenorth, M.; Nyga, D.; Beetz, M.)
Abstract	Service robots will have to accomplish more and more complex, open-ended tasks and regularly acquire new skills. In this work, we propose a new approach to the problem of generating plans for such household robots. Instead composing them from atomic actions — the common approach in robot planning — we propose to transform task descriptions on web sites like ehow.com into executable robot plans. We present methods for automatically converting the instructions from natural language into a formal, logic-based representation, for resolving the word senses using the WordNet database and the Cyc ontology, and for exporting the generated plans into the mobile robot's plan language RPL. We discuss the problem of inferring information that is missing in these descriptions and the problem of grounding the abstract task descriptions in the perception and action system, and we propose techniques for solving them. The whole system works autonomously without human interaction. It has successfully been tested with a set of about 150 natural language directives, of which up to 80% could be correctly transformed.
Starting Page	1486
Ending Page	1491
File Size	927949
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509955
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Web sites Robot sensing systems Robotics and automation Natural languages Service robots Databases Ontologies Mobile robots Grounding Humans
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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