再帰的信念更新による暗黙的な目標記述の接地に基づく屋内ロボットナビゲーション
Grounding Implicit Goal Description for Robot Indoor Navigation Via Recursive Belief Update
自然言語の目的地指示を文法単位に分解し、地図上の領域信念分布を再帰的に更新することで高レベルなナビ計画へ変換する手法を提案し、実オフィス環境で有効性を示した。
著者: Rui Chen, Jinxin Zhao, Liangjun Zhang
分類: cs.RO
原文アブストラクト
Natural language-based robotic navigation remains a challenging problem due to the human knowledge of navigation constraints, and destination is not directly compatible with the robot knowledge base. In this paper, we aim to translate natural destination commands into high-level robot navigation plans given a map of interest. We identify grammatically associated segments of destination description and recursively apply each of them to update a belief distribution of an area over the given map.We train a destination grounding model using a dataset of single-step belief update for precise, proximity, and directional modifier types. We demonstrate our method on real-world navigation task in an office consisting of 80 areas. Offline experimental results show that our method can directly extract goal destination from unheard, long, and composite text commands asked by humans. This enables users to specify their destination goals for the robot in general and natural form. Hardware experiment results also show that the designed model brings much convenience for specifying a navigation goal to a service robot.
