Abstract
Hierarchical tasks learnt from situation specific explanations are typically limited in how well they generalise to situations beyond the explanation provided. To address this we present an approach to learning functional argument mappings for enabling task generalisation regardless of explanation specificity. These functional argument mappings allow subtasks within a hierarchical task to utilise both arguments provided to the parent task, as well as domain knowledge, to generalise to novel situations. We validate this approach with a number of scenarios in which the agent learns generalised tasks from situation specific explanations, and show that these tasks provide equal performance when compared to tasks learnt from generalisable explanations.
References
Haarslev, V., Möller, R.: Description of the RACER system and its applications. In: International Workshop on Description Logics, vol. 1, pp. 132–142 (2001)
Lehmann, J.: DL-learner: learning concepts in description logics. J. Mach. Learn. Res. 10, 2639–2642 (2009)
Meriçli, C., Klee, S., Paparian, J., Veloso, M.: An interactive approach for situated task teaching through verbal instructions. In: AAAI (2013)
Muggleton, S.: Inductive logic programming. New Gener. Comput. 8(4), 295–318 (1991)
Nau, D., Au, T.C., Ilghami, O., Kuter, U., Murdock, J.W., Wu, D., Yaman, F.: SHOP2: an HTN planning system. J. Artif. Intell. Res. 20(1), 379–404 (2003)
Nicolescu, M.N., Mataric, M.J.: Natural methods for robot task learning: instructive demonstrations, generalization and practice. In: Proceedings of the Second International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), p. 241 (2003)
Rybski, P., Yoon, K., Stolarz, J., Veloso, M.: Interactive robot task training through dialog and demonstration. In: 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp. 49–56. IEEE (2007)
She, L., Yang, S., Cheng, Y., Jia, Y., Chai, J.Y., Xi, N.: Back to the blocks world: learning new actions through situated human-robot dialogue. In: 15th Annual Meeting of the Special Interest Group on Discourse and Dialogue, vol. 89 (2014)
Shiwali, M., Laird, J.: Learning goal-oriented hierarchical tasks from situated interactive instruction. In: Proceedings of the Twenty Eighth AAAI Conference on Artificial Intelligence, Québec (2014)
Suddrey, G., Lehnert, C., Eich, M., Maire, F., Roberts, J.: Teaching robots generalisable hierarchical tasks through natural language instruction. IEEE Robot. Autom. Lett. 2, 1 (2016)
Talbot, B., Schulz, R., Upcroft, B., Wyeth, G.: Reasoning about natural language phrases for semantic goal driven exploration. In: Proceedings of the Australasian Conference on Robotics and Automation (2015)
Tellex, S., Kollar, T., Dickerson, S., Walter, M.R., Banerjee, A.G., Teller, S.J., Roy, N.: Understanding natural language commands for robotic navigation and mobile manipulation. In: Proceedings of the Twenty-Fifth AAAI Conference on Artificial Intelligence, San Francisco, pp. 1507–1514 (2011)
Tenorth, M., Nyga, D., Beetz, M.: Understanding and executing instructions for everyday manipulation tasks from the World Wide Web. In: 2010 IEEE International Conference on Robotics and Automation, pp. 1486–1491. IEEE, May 2010
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing AG
About this paper
Cite this paper
Suddrey, G., Eich, M., Maire, F., Roberts, J. (2016). Learning Functional Argument Mappings for Hierarchical Tasks from Situation Specific Explanations. In: Kang, B.H., Bai, Q. (eds) AI 2016: Advances in Artificial Intelligence. AI 2016. Lecture Notes in Computer Science(), vol 9992. Springer, Cham. https://doi.org/10.1007/978-3-319-50127-7_30
Download citation
DOI: https://doi.org/10.1007/978-3-319-50127-7_30
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-50126-0
Online ISBN: 978-3-319-50127-7
eBook Packages: Computer ScienceComputer Science (R0)