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Ahn, Hyemin
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dc.citation.endPage 3315 -
dc.citation.number 4 -
dc.citation.startPage 3308 -
dc.citation.volume 3 - Ahn, Hyemin - Choi, Sungjoon - Kim, Nuri - Cha, Geonho - Oh, Songhwai - 2023-12-21T20:08:00Z - 2023-12-21T20:08:00Z - 2022-06-08 - 2018-10 -
dc.description.abstract In this letter, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration that enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is expected to pick up an object instructed by a human, and to interact with the human when the given instruction is vague. The proposed network understands the command from the human user and estimates the position of the desired object first. To handle the inherent ambiguity in human language commands, a suitable question which can resolve the ambiguity is generated. The user's answer to the question is combined with the initial command and given back to the network, resulting in more accurate estimation. The experiment results show that given unambiguous commands, the proposed method can estimate the position of the requested object with an accuracy of 98.49% based on the test dataset. Given ambiguous language commands, we show that the accuracy of the pick up task increases by 1.94 times after incorporating the information obtained from the interaction. -
dc.identifier.bibliographicCitation IEEE ROBOTICS AND AUTOMATION LETTERS, v.3, no.4, pp.3308 - 3315 -
dc.identifier.doi 10.1109/LRA.2018.2852786 -
dc.identifier.issn 2377-3766 -
dc.identifier.scopusid 2-s2.0-85063310020 -
dc.identifier.uri -
dc.identifier.wosid 000439621000009 -
dc.language 영어 -
dc.title Interactive Text2Pickup Networks for Natural Language-Based Human-Robot Collaboration -
dc.type Article -
dc.description.isOpenAccess FALSE -
dc.relation.journalWebOfScienceCategory Robotics -
dc.relation.journalResearchArea Robotics -
dc.type.docType Article -
dc.description.journalRegisteredClass scie -
dc.description.journalRegisteredClass scopus -
dc.subject.keywordAuthor Deep learning in robotics -
dc.subject.keywordAuthor learning and adaptive systems -
dc.subject.keywordAuthor social human-robot interaction -


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