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While most robots in human robot interaction scenarios take instructions from humans, the ideal would be that humans and robots collaborate with each other. The Defense Advanced Research Projects Agency Communicating with Computer program proposes the collaborative blocks world scenario as a testbed for this. This scenario requires the human and th...
Contexts in source publication
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... the block world domain in Fig. 1 [9]. The robot has its own blocks and the human has some blocks. The two share a table and some other blocks on the table. Suppose that the human communicates to the robot the sentence "Add another blue stack of the same height!." Even if we assume that the robot is able to recognize the color of the blocks, create, and execute plans ...
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... addition to the above, it is easy to see that the robot cannot accomplish the task in the situation in Fig. 1 if it is limited to the typical actions in the block domain (e.g, pick up, put down, or un/stack blocks) and uses only its own blocks. It is because of its planning process-looking for a plan to create a stack of two blue blocks-fails. What should the robot do? Can it reply back that it needs an additional blue block? Can it ask for ...
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... 1. The block domain in Fig. 1-in the view of the robot-can be repre- sented by the planning domain F b , A b with a set of constants 1 denoting the hu- man (h), the robot (r), the set of ...
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... omit the description of other actions for brevity. The planning problem discussed in the first section can be represented by Fig. 1 and G b be the following ...
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... say that a fluent f changes its value during the execution of α, denoted by ±f α → f , if there exist some 1 ≤ j < n such that f is true (resp. false) Φ * ([a 1 , . . . , a j−1 ], s 0 ) and false (resp. ...
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