A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions
Siddharth Karamcheti, Edward Clem Williams, Dilip Arumugam, Mina Rhee, Nakul Gopalan, Lawson L.S. Wong, Stefanie Tellex
Abstract
Robots operating alongside humans in diverse, stochastic environments must be able to accurately interpret natural language commands. These instructions often fall into one of two categories: those that specify a goal condition or target state, and those that specify explicit actions, or how to perform a given task. Recent approaches have used reward functions as a semantic representation of goal-based commands, which allows for the use of a state-of-the-art planner to find a policy for the given task. However, these reward functions cannot be directly used to represent action-oriented commands. We introduce a new hybrid approach, the Deep Recurrent Action-Goal Grounding Network (DRAGGN), for task grounding and execution that handles natural language from either category as input, and generalizes to unseen environments. Our robot-simulation results demonstrate that a system successfully interpreting both goal-oriented and action-oriented task specifications brings us closer to robust natural language understanding for human-robot interaction.- Anthology ID:
- W17-2809
- Volume:
- Proceedings of the First Workshop on Language Grounding for Robotics
- Month:
- August
- Year:
- 2017
- Address:
- Vancouver, Canada
- Editors:
- Mohit Bansal, Cynthia Matuszek, Jacob Andreas, Yoav Artzi, Yonatan Bisk
- Venue:
- RoboNLP
- SIG:
- Publisher:
- Association for Computational Linguistics
- Note:
- Pages:
- 67–75
- Language:
- URL:
- https://aclanthology.org/W17-2809
- DOI:
- 10.18653/v1/W17-2809
- Cite (ACL):
- Siddharth Karamcheti, Edward Clem Williams, Dilip Arumugam, Mina Rhee, Nakul Gopalan, Lawson L.S. Wong, and Stefanie Tellex. 2017. A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions. In Proceedings of the First Workshop on Language Grounding for Robotics, pages 67–75, Vancouver, Canada. Association for Computational Linguistics.
- Cite (Informal):
- A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions (Karamcheti et al., RoboNLP 2017)
- PDF:
- https://preview.aclanthology.org/corrections-2024-07/W17-2809.pdf
- Code
- siddk/glamdp