Knowledge acquisition through human-robot multimodal interaction

摘要

The limited understanding of the surrounding environment still restricts the capabilities of robotic systems in real world applications. Specifically, the acquisition of knowledge about the environment typically relies only on perception, which requires intensive ad hoc training and is not sufficiently reliable in a general setting. In this paper, we aim at integrating new acquisition devices, such as tangible user interfaces, speech technologies and vision-based systems, with established AI methodologies, to present a novel and effective knowledge acquisition approach. A natural interaction paradigm is presented, where humans move within the environment with the robot and easily acquire information by selecting relevant spots, objects, or other relevant landmarks. The synergy between novel interaction technologies and semantic knowledge leverages humans' cognitive skills to support robots in acquiring and grounding knowledge about the environment; such richer representation can be exploited in the realization of robot autonomous skills for task accomplishment.