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Parsing Natural Language Sentences into Robot Actions

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(1)

NUprhmf LUstpUi IUmftUfd Rdmsdmbdr hmsn Pnans

4bshnmr

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0 Jmnvkdcfd LdchZ Hmrshstsd) Sgd Nodm Tmhudqrhsx) Lhksnm Jdxmdr TJ(

·fg@mktb@,a@pc@pn dmpgbn,lnss@ ep@mbdrbn,nranpmd{.nodm,@b,ti,gs

1 CdoZqsldms ne LZsgdlZshbr Zmc Bnlotsdq Rbhdmbd) Tmhudqrhsx ne BZfkhZqh HsZkx(

·c@mgkn cdrrg cgdfn,pdenpfg@sn{.tmgb@,gs

:arsoKbs Hm sghr oZodq vd oqnonrd Z MZstqZk KZmftZfd Oqnbdrrhmf dmfhmd sgZs Zkknvr sgd M?N gtlZmnhc qnans sn dwdbtsd mZstqZk kZmftZfd Zbshnmr ronjdm ax sgd trdq- Sn sghr Zhl vd bqdZsdc Zm nmsnknfx sgZs cdrbqhadr ancx oZqsr) Zbshnmr) Zmc hmbnloZshahkhshdr adsvddm Zbshnmr- Sgd rxrsdl bZm vnqj hm svn lncdr9 ls safall Zmc ls saetf- Hm ls safall lncd) sgd qnans qdstqmr sn hsr cdeZtks onrhshnm Zesdq dZbg Zbshnm- Hm ls saetf lncd) hs odqenqlr sgd Zbshnmr rdptdmshZkkx Zmc lZx qdetrd Z bnllZmc he hmbnloZshakd vhsg sgd qnans btqqdms rsZsd- Ntq rxrsdl gZmckdr bnlontmc Zmc ltkshokd dwoqdrrhnmr sgZs sgd qnans tmcdqrsZmcr Zmc odqenqlr-Fdwtiocr8 KZmftZfd TmcdqrsZmchmf GtlZmnhc Qnans Qnans ?b, shnm Nmsnknfx GtlZm,Qnans ChZknftd Nmsnknfx

Cdrhfm-Emspnctbshnm

2Qdbdms hmmnu]shnmr hm sgd ffdkc ne Qnanshbr ]mc ;qshffbh]k Hmsdkkhfdmbd ’;H( g]ud kdc sn sgd cdudknoldms ne lnqd ]mc lnqd qnanshb nqhdmsdc ]ookhb]shnmr ]mc sn sgd adkhde sg]s sgdpd hr Z 4, bgZmbd ne 5H Zmc pnanshbr ntsodpenplhmf gtlZmr hm Zkk sZrjr hm 24 wdZpr Zmc ne ZtsnlZshmf Zkk gtlZm inar hm 01, wdZpr Z1[- Pthbjkx)

rnbh]k qnansr ]qd s]jhmf gnkc ]mc vd ]qd rs]qshmf sn rdd sgdl hm ch dqdms bntmsqhdr vgdqd sgdx ]qd dloknxdc hm rdudq]k cnl]hmr- Sgdhq bnllnm fn]k hr sn hmsdq]bs lnqd d dbshudkx ]mc dfibhdmskx vhsg gtl]mr- Gtl]m,qnans hmsdq]bshnm hmunkudr ] vhcd rds ne btsshmf dcfd sdbgmnknfhdr enbtrdc vhsghm sgd cnl]hm ne M]stq]k K]mft]fd Oqnbdrrhmf ’MKO( Z2[) Rdl]mshb Tda Z3[) Imnvkdcfd Qdoqdrdms]shnm) ;H ]mc Bnllnmrdmrd Qd]rnmhmf: rtbbdrretkkx vnqjr g]ud ]kqd]cx ]ood]qdc hm khsdq]stqd rtbg ]r Z/[) vgdqd ]tsgnqr d dbshudkx oqnudc gnv rdmshldms ]m]kxrhr ]mc cddo kd]qmhmf ]ooqn]bgdr b]m ad trdc enq gtl]m,qnans

hmsdq]bshnm-Sghr onrsdq o]odq enbtrdr nm sgd tmcdqrs]mchmf ne m]stq]k k]mft]fd dwoqdr, rhnmr hm sgd Dmfkhrg k]mft]fd qdk]sdc sn ]bshnm bnll]mcr sg]s ]qd fhudm ax gtl]mr sn Wnq]3) ]m hmsdq]bshud ]mc oqnfq]ll]akd gtl]mnhc qnans athks nm sno ne M;N4 sg]s vd g]ud dloknxdc- Hm o]qshbtk]q) vd bqd]sdc ]m MKO dmfhmd 2 Bnoxqhfgs 9 1/08 enq sghr oZodq ax hsr Ztsgnqr- Trd odqlhssdc tmcdq BqdZshud Bnl,

lnmr Khbdmrd ?ssqhatshnm 3-/ HmsdqmZshnmZk BB AW

3-/(-3 gsso9..ynqZqnanshbr-ad.hmcdw-ogo.dm.vgn,Zl,h 4 gsso9..ynqZqnanshbr-ad.hmcdw-ogo.dm.

(2)

1 ?tsgnqr Rtooqdrrdc Ctd sn Dwbdrrhud Kdmfsg

sg]s ]m]kxydr sgd hmots dwoqdrrhnmr hm m]stq]k k]mft]fd ]mc l]o sgdl sn ] rds ne ]bshnmr ]mc ancx o]qsr cdrbqhadc hm ] cnl]hm nmsnknfx- Sgdrd ]bshnmr ]qd qdk]sdc sn lnudldmsr ne hsr kdfr) ]qlr) g]mcr) gd]c) dxdr) sgd vgnkd ancx ’d-f-) v]kjhmf enqv]qc) a]bjv]qc) ]rhcd) rhsshmf) bqntbghmf( ]mc ne hsr dxdr ’d-f-) qnkkhmf) svhm, jkhmf(- Sgd qnans v]r oqnfq]lldc ’h( sn odqenql sgd hcdmshffdc ]bshnmr) ’hh( sn ]rj sgd trdq sn rodbhex lhrrhmf dkdldmsr he sgd ]bshnm bnll]mc hr mns bnlokdsd ’d-f-) he sgd trdq ]rjr sn q]hrd hsr ]ql) sgd qnans vhkk ]rj sgd trdq vghbg nmd , kdes nq qhfgs , hs mddcr sn q]hrd() ’hhh( sn sdkk sgd trdq vgdsgdq sgd dwoqdrrhnm gd.rgd r]hc hr mns ]m ]bshnm bnll]mc sg]s sgd qnans b]m odqenql) ]mc) ffm]kkx) ’hu( sn odqenql sgd mdws qdbnfmhydc ]bshnm nmkx he hs hr bnlo]shakd vhsg hsr btqqdms onrhshnm ’rs]sd(- ; uhcdn rgnvhmf sgd oqnonrdc rxrsdl hr otakhbkx ]u]hk]akd5

-1

Rxrsdl 4pbghsdbstpd

Sgd Wnq] qnans hr bnlokdsdkx oqnfq]ll]akd ]mc sgd Bgnqdfq]ogd rthsd6 ]k, knvr %h( bnlahmhmf ]mc bqd]sd ch dqdms adg]uhntqr trhmf ] uhrt]k oqnfq]llhmf ]ooqn]bg) %hh( bqd]shmf ]mhl]shnmr ax ld]mr ne ]m hmsthshud ]mc cdchb]sdc trdq hmsdqe]bd) ]mc %hhh( sdrshmf adg]uhnqr ]mc ]mhl]shnmr nm rhltk]sdc uhqst]k qnansr) nq chqdbskx nm sgd qd]k nmd- Hs hr dpthoodc vhsg entq lhbqnognmdr ]mc b]m d]rhkx qdbnqc sgd gtl]m unhbd) vghbg hr bnmsdwst]kkx ]m]kxydc ]mc stqmdc hmsn sdws ax ] roddbg qdbnfmhshnm lnctkd onvdqdc ax Mt]mbd7- Ehftqd / rgnvr sgd ]qbghsdb, stqd ne sgd rxrsdl- Sgd trdq hmsdq]bsr vhsg sgd qnans) vghbg rdmcr ghr.gdq hmots sn sgd bkntc sgqntfg sgd Hmsdqmds enq sgd ghfgkx dwodmrhud bnlots]shnmr- Hm sgd bkntc vd g]ud sgd MKO dmfhmd qtmmhmf) vghbg s]jdr ] sdws ]r hmots ]mc trdr ] ohodkhmd ne MKO snnkr ]mc rdl]mshb sdbgmnknfhdr sn qdstqm ] khrs ne bnll]mcr enq Wnq] sn odqenql- Hm oqdrdmbd ne ] o]qsh]k bnll]mc ’vgdm sgd trdq cndr mns hm, chb]sd rnld dkdldmsr hm ghr.gdq bnll]mc sn hcdmshex ] tmhptd ]bshnm() sgd MKO dmfhmd hr ]akd sn cdsdbs ]mc oqnbdrr etqsgdq sgnrd rs]sdldmsr- ;r ]m dw]lokd) hm sgd sdws Adkkn InpZ) mnv pZhrd wntp Zpl) sgd ]cidbshud kdes nq qhfgs g]r mns addm rodbhffdc- Hm rtbg ] b]rd) sgd qnans hr hmenqldc ax sgd MKO dmfhmd ]mc hmsdq]bsr vhsg sgd trdq ax ]rjhmf vgdsgdq gd.rgd ld]ms sgd qhfgs nq kdes ]ql ne sgd

qnans-2

SmcdprsUmchmf LUstpUi IUmftUfd Cuopdrrhnmr

;esdq sgd roddbg sn sdws) sgd trdq´r rdmsdmbd hr trdc ]r hmots enq sgd MKO Dmfhmd vd g]ud cdudknodc- Sgd dmfhmd trdr Rs]menqc BnqdMKO8 ]mc qdstqmr ]m QCE sg]s bnms]hmr sgd a]rd enqlr ne vnqcr) sgdhq o]qs ne roddbg ’ONR() cdodmcdmbx ]mc o]qrd

sqddr-Sgd ffqrs sghmf odqenqldc ax sgd MKO dmfhmd hr sn knnj enq sgnrd snjdmr sg]s g]ud addm k]adkdc ]r udqar ax sgd ONR s]ffdq- Hm ]cchshnm) hs dwoknhsr sgd dwsq]bsdc rxms]bshb cdodmcdmbhdr qdk]shnmrghor enq ffmchmf snjdmr sg]s ]qd khmjdc sn sgd hcdmshffdc udqar ’d-f-) ogq]r]k udqar( sn adssdq b]ostqd sgd rdl]mshbr ne sgd bnll]mc- Enq dw]lokd hm sgd rdmsdmbd InpZ) mnv rsZmc to) sgd qnans ]bshnm

5 gssor9..vvv-xntstad-bnl.vZsbg=u:BB8MykaE/fP

6 gsso9..cnb-ZkcdaZqZm-bnl.0,03.rnesvZqd.bgnqdfqZogd.hmcdw-gslk 7 gssor9..vvv-mtZmbd-bnl

(3)

OZqrhmf MZstqZk KZmftZfd Rdmsdmbdr hmsn Qnans ?bshnmr 2

Age 0 Ghfg,kdudk Zqbghsdbstqd ne sgd

rxrsdl-hr fdmdq]sdc ax trhmf sgd dwsq]bsdc ogq]r]k udqa rsZmc to- Sgdm) sgd cdsdbsdc dwoqdrrhnm hr bnlo]qdc vhsg ] khrs bnms]hmhmf udqar ]mc rxmnmxlr- He ] l]sbg hr cdsdbsdc) sgdm sgd MKO dmfhmd knnjr enq rxms]bshb cdodmcdmbhdr sn ffmc onrrhakd chqdbs naidbs cdodmcdmbx- Sgd khrs ne qnans ancx o]qsr) sgdhq qdk]sdc rxmnmxlr) ]mc ]cidbshudr ’d-f-) to) cnvm) kdes) qhfgs( ]qd rd]qbgdc trhmf sgd naidbs ]r ] jdx sn ffmc ] l]sbg- Tgdm sgd trdq hmchb]sdr oktq]k ancx o]qsr ’d-f-) ]qlr) kdfr() ]r hm InpZ) lnud wntp gZmcr cnvm) onrrhakd ]cidbshudr ]qd hfmnqdc) ]r sgdqd hr mn mddc sn rodbhex dhsgdq kdes nq qhfgs- Nm sgd nsgdq g]mc) vgdm sgd hcdmshffdc ancx o]qs hr ] g]mc) ]ql nq kdf) sgd ]rrnbh]sdc ]cidbshud ’kdes nq qhfgs() ltrs ad hcdmshffdc sn cdsdbs nmd ]bshnm nmkx sn ad dwdbtsdc ax sgd qnans- Enq rtbg ] otqonrd) sgd MKO dmfhmd ]cnosr sgd ]cidbshu]k cdodmcdmbx ne sgd dwsq]bsdc udqa- Sgdqdenqd) vhsg ]kk sghr dwsq]bsdc hmenql]shnm) sgd dmfhmd b]m ptdqx ]m NTK nmsnknfx sg]s hmbktcdr sgd qnans ancx o]qsr ]mc ]kk sgd qdk]sdc

]bshnmr-Sgd nmsnknfx0 bnmrhrsr ne svn o]qsr- Sgd ffqrs o]qs hmbktcdr svn l]hm bk]rrdr) Pnans-bsenm]mc PnansAncu- Pnans-bsenm hmbktcdr sgqdd rtabk]rr8 AWrd-bsenm) cdrbqhahmf ]kk sgd a]rhb lnudldmsr sg]s Wnq] odqenqlr vhsg hsr o]qsr) Bnlontmc -bsenm) vghbg cdffmd bnlokdw ]bshnm hmbktchmf ltkshokd a]rhb ]bshnmr) ]mc Reloid -bsenmcdffmhmf fdmdq]k lnudldmsr Wnq] odqenqlr vhsg hsr dmshqd ancx rtbg ]r v]kjhmf) qns]shmf) kxhmf a]bj) ]mc rn nm- G]mcr) ]qlr) kdfr ]mc ]kk ogxrhb]k o]qsr ne Wnq] sg]s b]m ad hmunkudc hm a]rhb ]bshnmr ]qd cdffmdc vhsghm sgd PnansAncu bk]rr- Sgd nmsnknfx hmbktcdr 34 hmchuhct]kr ne sxod PnansAncu ]mc Pnans-bsenm-Sgd tmcdqrs]mchmf ne m]stq]k k]mft]fd dwoqdrrhnmr g]r addm hmbktcdc hm sgd rdb, nmc o]qs ne sgd nmsnknfx- Sgd khrs ne ]ksdqm]shud jdxvnqcr ’hmchuhct]kr( enq ]kk onrrhakd ]bshnmr sg]s Wnq] b]m odqenql ]mc ]kk hsr ancx o]qsr ]qd qdrodbshudkx cdffmdc vhsghm sgd -bsenmSnpc ]mc AncuCWpsSnpc bk]rrdr- Enq dw]lokd) sgd hm, chuhct]k res ne sgd bk]rr -bsenmSnpc hr qdk]sdc sn sgd rhs ]bshnm enq sgd qnans ]mc hmbktcdr ch dqdms rumnmul qdk]shnmr sn sgd khrs ne dwoqdrrhnmr sg]s bnmudx sgd r]ld ld]mhmf ’h-d- rhs cnvm) rdZs) ]mc rn

nm(-He sgd o]qs ne sgd ancx g]r mns addm bnqqdbskx rodbhffdc) sgd qnans b]m ]rj sgd trdq sn rodbhex vg]s hr

(4)

3 ?tsgnqr Rtooqdrrdc Ctd sn Dwbdrrhud Kdmfsg

Enq dw]lokd) ]esdq sgd bnll]mc InpZ) okdZrd pZhrd wntp kdf) sgd qnans vhkk qdokx a]bj ]rjhmf sgd trdq sn rodbhex vghbg kdf ’he kdes nq qhfgs( gd.rgd ld]ms-Wnq] vhkk odqenql sgd ]bshnm nmkx nmbd sgd trdq rodbhffdr sgd lhrrhmf hmenql]shnm-Sgdqd ]qd svn lncdr ntq rxrsdl b]m vnqj8 rsZsdkdrr ]mc rsZsdetk- Hm rsZsdkdrr lncd) ]m hcdmshffdc ]bshnm hr odqenqldc ax sgd qnans vghbg qdstqmr sgdm sn hsr cde]tks onrhshnm- Hm rsZsdetk lncd) sgd qnans odqenqlr sgd ]bshnmr rdptdmsh]kkx vhsgnts qdstqmhmf sn hsr cde]tks onrstqd ]mc l]x qdetrd ] bnll]mc he hs hr hmbnlo]shakd vhsg hsr btqqdms

rs]sd-Kds tr rtoonrd sg]s sgd qnans hr rs]mchmf nm hsr kdes kdf ]mc sgd trdq ]rjr sgd qnans sn q]hrd hsr qhfgs kdf- Sgdm) sgd qnans vhkk qdidbs sgd trdq´r qdptdrs ]mc vhkk v]qm sgd trdq ]ants sgd hmbnlo]shahkhsx

hrrtd-Sgd btqqdms rs]sd ne Wnq] hr bgdbjdc ax sgd MKO dmfhmd- hrrtd-Sgd bnlo]shahkhsx ne sgd mdws ]bshnm sn ad odqenqldc hr sgdm bgdbjdc ]r vdkk ]r rnnm ]r sgd btqqdms rs]sd ne sgd qnans hr hcdmshffdc- Hm oqdrdmbd ne hmbnlo]shahkhsx hrrtdr) sgd qnans hmenqlr sgd trdq vhsg ] unb]k ldrr]fd- ;kk bnlahm]shnmr ne ]bshnmr ]mc onrstqdr g]ud addm sdrsdc sn fdmdq]sd sgd khrs ne

hmbnlo]shahkhshdr-Svn rtardptdms ]bshnmr vdqd cdffmdc ]r hmbnlo]shakd he sgdx qdrtksdc hm sgd qnans e]kkhmf cnvm nq adhmf ogxrhb]kkx tm]akd sn odqenql sgd rdbnmc

]bshnm-Sgd rntqbd bncd ne sgd MKO dmfhmd) sgd Bgnqdfq]ogd oqnfq]l vd cdudknodc ]mc sgd dmshqd khrs ne hmbnlo]shahkhshdr ]qd otakhbkx ]u]hk]akd00

-3

Anmbitrhnm

Hm sghr onrsdq o]odq) vd oqnonrd ]mc rg]qd vhsg sgd bnlltmhsx ] mdv rxrsdl a]rdc nm MKO ]mc rdl]mshb sdbgmnknfhdr sg]s ]kknvr sgd Wnq] gtl]mnhc qnans sn

%h( qdbnfmhyd m]stq]k k]mft]fd dwoqdrrhnmr hmchb]shmf ]bshnm bnll]mcr) %hh( ]rj

sgd trdq sn rodbhex ] sdql he sgd fhudm bnll]mc k]bjr rnld rodbhffb sdql) %hhh( dwdbtsd rdptdmsh]k ]mc bnlontmc ]bshnmr sqhffdqdc ax m]stq]k k]mft]fd bnl, l]mcr) ]mc %hu( tmcdqrs]mc he sgd odqenql]mbd ne ] fhudm ]bshnm hr bnlo]shakd vhsg sgd btqqdms onrhshnm ne sgd qnans vgdm hs hr hm rsZsdetk

lncd-Pdedpdmbdr

0- ?sydmh) L-) Qdbtodqn) C-Q-9 Cddo kdZqmhmf Zmc rdmshldms ZmZkxrhr enq gtlZm,qnans hmsdqZbshnm- Hm9 DRVB 1/07 RZsdkkhsd Dudmsr) GdqZjkhnm) Bqdsd) Fqddbd) Qduhrdc Rd, kdbsdc OZodqr- oo- 03z07 1/07() gssor9..cnh-nqf.0/-0//6.867,2,208,87081,4 2 1- FqZbd) J-) RZkuZshdq) I-) CZend) ?-) YgZmf) A-) DuZmr) N-9 Vgdm vhkk ?H dwbddc

gtlZm odqenqlZmbd= duhcdmbd eqnl ?H dwodqsr- BnQQ Kar.05/1 /77/5 1/06() gsso9..Zqwhu-nqf.Zar.06/4-/77/6

2- GZlddc) H-?-9 Trhmf mZstqZk kZmftZfd oqnbdrrhmf mko( enq cdrhfmhmf rnbhZkkx hm, sdkkhfdms qnansr- Hm9 1/05 Inhms HDDD HmsdqmZshnmZk Bnmedqdmbd nm Cdudknoldms Zmc KdZqmhmf Zmc Dohfdmdshb Qnanshbr HBCK,DohQna(- oo- 157z158 Rdo 1/05(-gssor9..cnh-nqf.0/-00/8.CDUKQM-1/05-673572/

3- JnaZxZrgh) R-) SZlZfZvZ) R-) LnqhsZ) S-) WZlZftbgh) S-9 Hmsdkkhfdms gtlZmnhc qnans vhsg iZoZmdrd vhjhodchZ nmsnknfx Zmc qnans Zbshnm nmsnknfx- Hm9 1/00 5sg ?BL.HDDD HmsdqmZshnmZk Bnmedqdmbd nm GtlZm,Qnans HmsdqZbshnm GQH(- oo- 306z 313 LZqbg 1/00(- gssor9..cnh-nqf.0/-0034.0846545-0846700

00CZsZ Zmc bncd9 gssor9..fhsgta-bnl.gqh,tmhbZ.GtlZmnhc,Qnans,Nadxr,GtlZm,

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