Schedule

Each class will consist of a discussion and critique of the readings. All students are expected to complete the readings for each class and post a response on the blog.  The schedule is subject to change, depending on the interests of the class and how quickly we move through the material.  If you have suggested readings or topics you'd like to cover, let me know!

Part I: Fundamental Questions

9/5/13 (Thurs.): Overview of the Problem

9/10/13 (Tues.) Language Grounding and Artificial Intelligence
Optional:
9/12/13 (Thurs.) Semantics
9/17/13 (Tues.) Grounded Semantics
9/19/13 (Thurs.) Probabilistic Grounding Models (I)
9/24/13 (Tues.)  Discourse and the Question Under Discussion.  Guest lecture by Scott AndreBois
9/26/13 (Thurs.)  Probabilistic Grounding Models(II)

10/1/13 (Tues.) Planning
10/3/13 (Thurs.) Probabilistic Grounding Models (II)
Part II:  Command Understanding

10/8/13 (Tues.) Project Proposal Presentations
10/10/13 (Thurs.) Project Proposal Presentations

10/15/13 (Tues.)  SLAM (I)

10/17/13 (Thurs.) SLAM (II)
10/22/13 (Tues.) Dialog (I)
10/24/13 (Thurs.) Dialog (II)

10/29/13 (Tues.)  Statistical Machine Translation
10/31/13 (Thurs.)  Semantic Parsing
11/5/13 (Tues.) Project Update Presentations
11/7/13 (Thurs.) Project Update Presentations

11/12/13 (Tues.)  Generating Language
11/14/13 (Thurs.) Generating Motion
11/19/13 (Tues.)
11/21/13 (Thurs.)
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Below is a selection of papers under consideration.
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10/31/13 (Thurs.) Applications: Cooking
  • Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, L Mosenlechner, Dejan Pangercic, T Ruhr, and Moritz Tenorth. Robotic roommates making pancakes. In Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, pages 529–536. IEEE, 2011.
  • M. Bollini, S. Tellex, T. Thompson, N. Roy, and D. Rus. Interpreting and executing recipes with a cooking robot. In 13th International Symposium on Experimental Robotics, 2012.


11/12/13 (Tues.) Applications: Manufacturing
  • R. A. Knepper, T. Layton, J. Romanishin, and D. Rus. IkeaBot: An autonomous multi-robot coordinated furniture assembly system. In Proc. IEEE Int’l Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013.
  • S. Teller, Matthew R. Walter, M. Antone, A. Correa, R. Davis, L. Fletcher, E. Frazzoli, J. Glass, J.P. How, A.S. Huang, J.H. Jeon, S. Karaman, B. Luders, N. Roy, and T. Sainath. A voice-commandable robotic forklift working alongside humans in minimally-prepared outdoor environments. In Proc. IEEE Int’l Conf. on Robotics and Automation (ICRA), pages 526–533, 2010.
11/14/13 (Thurs.) Nonverbal Communication
  • Anca Dragan and Siddhartha Srinivasa. Generating legible motion. In Robotics: Science and Systems, June 2013.
11/19/13 (Tues.) Time
  • Jeffrey Mark Siskind. Grounding the lexical semantics of verbs in visual perception using force dynamics and event logic. J. Artif. Int. Res., 15(1):31–90, 2001.
11/21/13 (Thurs.) To be determined


11/26/13 (Tues.) To be determined

11/28/13 (Thurs.) (Thanksgiving)

12/3/13 (Tues.) To be determined

12/5/13 (Thurs.) Final Project Presentations

12/10/13 (Tues.) Final Project Presentations

12/12/13 (Thurs.) Final Project Presentations



Under consideration:
  • Noah D Goodman and Andreas Stuhlmuller. Knowledge and implicature: Modeling language understanding as social cognition. Topics in Cognitive Science, 5(1):173–184, 2013.
  • T Regier and L A Carlson. Grounding spatial language in perception: An empirical and computational investigation. J. of Experimental Psychology: General, 130(2):273–98, June 2001.
  • Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner. Task space regions: A framework for pose-constrained manipulation planning. International Journal of Robotics Research (IJRR), 30 (12):1435 – 1460, October 2011. 



Statistical Machine Translation
  • Peter F Brown, Vincent J. Della Pietra, Stephen A. Della Pietra, and Robert L. Mercer.  The mathematics of statistical machine translation:  parameter estimation.  Computational Linguistics, 19:263311, June 1993.
  • David L. Chen and Raymond J. Mooney. Learning to sportscast: a test of grounded language acquisition. In Proceedings of ICML, 2008.
 Robots that Talk
  • Sean Andrist, Erin Spannan, and Bilge Mutlu. Rhetorical robots: Making robots more effective speakers using linguistic cues of expertise. In Proceedings of the eight annual ACM/IEEE International conference on Human-Robot Interaction, HRI 13, New York, NY, USA, 2013. ACM.
  • Stefanie Tellex, Ross Knepper, Adrian Li, Thomas Howard, Daniela Rus, and Nicholas Roy. Asking for help using inverse semantics. (in preparation), 2014.
Dialog (I)
  • Barbara Grosz and Candace L Sidner. Attention, intentions, and the structure of discourse. Computational Linguistics, 12(3):175–204, 1986. Engineering and Applied Sciences.
  • Jason D. Williams and Steve Young. Partially observable Markov decision processes for spoken dialog systems. Computer Speech & Language, 21(2):393–422, April 2007. ISSN 0885-2308.
 Dialog (II)
  • F. Doshi and N. Roy. Spoken language interaction with model uncertainty: An adaptive human-robot interaction system. Connection Science, 20(4):299–319, 2008.
  • Adam Vogel, Christopher Potts, and Dan Jurafsky. Implicatures and nested beliefs in approximate Decentralized-POMDPs. In Proceedings of the 51st Annual Meeting of the Association for Computational Linguistics, Sofia, Bulgaria, August 2013. Association for Computational Linguistics.
Understanding statements about the world
  • S.R.K. Branavan, David Silver, and Regina Barzilay. Learning to win by reading manuals in a Monte-Carlo framework. In Proceedings of ACL, 2011.
  • Matthew R. Walter, S. Hemachandra, B. Homberg, S. Tellex, and S. Teller. Learning semantic maps from natural language descriptions. In Proceedings of Robotics: Science and Systems (RSS), Berlin, Germany, June 2013 (accepted, to appear).

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