arXiv subjects

Sosuke Kobayashi

Publications and source records attributed to Sosuke Kobayashi.

20 records · Page 2Linked to original sources

arXiv2018

Interactively Picking Real-World Objects with Unconstrained Spoken Language Instructions

Comprehension of spoken natural language is an essential component for robots to communicate with human effectively. However, handling unconstrained spoken instructions is challenging due to (1) complex structures including a wide variety of expressions used in spoken language and (2) inherent ambiguity in interpretation of human instructions. In this paper, we propose the first comprehensive system that can handle unconstrained spoken language and is able to effectively resolve ambiguity in spoken instructions. Specifically, we integrate deep-learning-based object detection together with natural language processing technologies to handle unconstrained spoken instructions, and propose a method for robots to resolve instruction ambiguity through dialogue. Through our experiments on both a simulated environment as well as a physical industrial robot arm, we demonstrate the ability of our system to understand natural instructions from human operators effectively, and how higher success rates of the object picking task can be achieved through an interactive clarification process.

cs.RO↗

arXiv2017

A Neural Language Model for Dynamically Representing the Meanings of Unknown Words and Entities in a Discourse

This study addresses the problem of identifying the meaning of unknown words or entities in a discourse with respect to the word embedding approaches used in neural language models. We proposed a method for on-the-fly construction and exploitation of word embeddings in both the input and output layers of a neural model by tracking contexts. This extends the dynamic entity representation used in Kobayashi et al. (2016) and incorporates a copy mechanism proposed independently by Gu et al. (2016) and Gulcehre et al. (2016). In addition, we construct a new task and dataset called Anonymized Language Modeling for evaluating the ability to capture word meanings while reading. Experiments conducted using our novel dataset show that the proposed variant of RNN language model outperformed the baseline model. Furthermore, the experiments also demonstrate that dynamic updates of an output layer help a model predict reappearing entities, whereas those of an input layer are effective to predict words following reappearing entities.

cs.CL↗