Grounded Situation Models for Robots: Where words and percepts meet

— Our long-term objective is to develop robots that engage in natural language-mediated cooperative tasks with humans. To support this goal, we are developing an amodal representation and associated processes which is called a grounded situation model (GSM). We are also developing a modular architecture in which the GSM resides in a centrally located module, around which there are language, perception, and actionrelated modules. The GSM acts as a sensor-updated ”structured blackboard”, that serves as a workspace with contents similar to a ”theatrical stage” in the robot’s ”mind”, which might be filled in with present, past or imagined situations. Two main desiderata drive the design of the GSM: first, ”parsing” situations into ontological types and relations that reflect human language semantics, and second, allowing bidirectional translation between sensory-derived data/expectations and linguistic descriptions. We present an implemented system that allows of a r...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Nikolaos Mavridis, Deb Roy
• Keywords: Human Language Semantics, IROS 2006, Language-mediated Cooperative Tasks, Robotics, Sensor-updated ”structured Blackboard