TY - GEN
T1 - Active learning of confidence measure function in robot language acquisition framework
AU - Sugiura, Komei
AU - Iwahashi, Naoto
AU - Kashioka, Hideki
AU - Nakamura, Satoshi
PY - 2010/12/1
Y1 - 2010/12/1
N2 - In an object manipulation dialogue, a robot may misunderstand an ambiguous command from a user, such as "Place the cup down (on the table)," potentially resulting in an accident. Although making confirmation questions before all motion will decrease the risk of this failure, the user will find it more convenient if confirmation questions are not made under trivial situations. This paper proposes a method for estimating ambiguity in the commands by introducing an active learning framework with Bayesian logistic regression to human-robot spoken dialogue. We conducted physical experiments in which a user and a manipulator-based robot communicated in spoken language to manipulate toys.
AB - In an object manipulation dialogue, a robot may misunderstand an ambiguous command from a user, such as "Place the cup down (on the table)," potentially resulting in an accident. Although making confirmation questions before all motion will decrease the risk of this failure, the user will find it more convenient if confirmation questions are not made under trivial situations. This paper proposes a method for estimating ambiguity in the commands by introducing an active learning framework with Bayesian logistic regression to human-robot spoken dialogue. We conducted physical experiments in which a user and a manipulator-based robot communicated in spoken language to manipulate toys.
UR - http://www.scopus.com/inward/record.url?scp=78651492588&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651492588&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649754
DO - 10.1109/IROS.2010.5649754
M3 - Conference contribution
AN - SCOPUS:78651492588
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 1774
EP - 1779
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -