Semantics and Pragmatics of Spatial Reference
Semantics and Pragmatics of Spatial Reference
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空间参考的语义和语用
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发表时间：
2013
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通讯作者：
D. Golland
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作者：
D. Golland
作者：Golland，大卫西蒙|顾问：Klein，Dan|摘要：为了让机器人与人类合作以实现目标，机器人应该能够通过解释和生成自然语言话语来进行通信。过去的工作是用给定的事实数据库或简单的模拟环境来表示自然语言的含义，这简化了解释或生成过程。然而，真实的世界包含了简单虚拟环境所缺少的丰富性和复杂性。数据库提供了一组经过提炼的逻辑关系，而物理世界中的关系更加模糊，难以辨别。在这篇论文中，我们通过提出在物理环境中解释和生成话语的模型来放松这些限制。我们提出了一个组成模型解释话语，使用学习模型的词汇语义地面语言术语到物理世界。我们还提出了一个模型，用于生成既信息丰富又明确的话语。为了应对物理世界的通信挑战，我们的系统通过计算机视觉感知环境，以识别对象并确定关系。我们专注于域的空间关系，并提出了一种新的概率模型，能够辨别的空间关系，存在于一个物理场景。我们通过将系统部署在一个机器人平台上来建立系统的功能，该机器人平台与人类进行交互以操纵物理环境中的对象。
Author(s): Golland, David Simon | Advisor(s): Klein, Dan | Abstract: In order for a robot to collaborate with a human to achieve a goal, the robot should be able to communicate by interpreting and generating natural language utterances. Past work has represented the meaning of natural language in terms of a given database of facts or a simple simulated environment, which simplifies the interpretation or generation process. However, the real world contains a richness and complexity missing from simple virtual environments. Databases present a distilled set of logical relations, whereas the relations in the physical world are more vague and challenging to discern.In this thesis, we relax these restrictions by presenting models that interpret and generate utterances in a physical environment. We present a compositional model for interpreting utterances that uses a learned model of lexical semantics to ground linguistic terms into the physical world. We also present a model for generating utterances that are both informative and unambiguous. To address the challenges of communicating about a physical world, our system perceives the environment with computer vision in order to recognize objects and determine relations. We focus on the domain of spatial relations and present a novel probabilistic model that is capable of discerning the spatial relations that are present in a physical scene. We establish the functionality of our system by deploying it on a robotic platform that interacts with a human to manipulate objects in a physical environment.