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In the area of robotics, a remarkable development is the building and application of service robots. Service robots are built to help ordinary people in their homes and offices perform housework, office duties, and so on. A desirable way for a user to communicate with a service robot is using a natural language. A major challenge in creating a robot natural language interface is handling ambiguity and uncertainty in user instructions. Knowledge about the surrounding world, along with knowledge about the behaviors and actions of both the robot and its user is needed in correct interpretation of user instructions. However, the acquisition of the knowledge is very difficult for a computer system.