Following directions using statistical machine translation

摘要

Abstract—Mobile robots that interact with humans in an intuitive way must be able to follow directions provided by humans in unconstrained natural language. In this work we investigate how statistical machine translation techniques can be used to bridge the gap between natural language route instructions and a map of an environment built by a robot. Our approach uses training data to learn to translate from natural language instructions to an automatically-labeled map. The complexity of the translation process is controlled by taking advantage of physical constraints imposed by the map. As a result, our technique can efficiently handle uncertainty in both map labeling and parsing. Our experiments demonstrate the promising capabilities achieved by our approach. Index Terms—Human-robot interaction; instruction following; navigation; statistical machine translation; natural language I.