Corpus ID: 227305714

Spatial Language Understanding for Object Search in Partially Observed Cityscale Environments

@article{Zheng2020SpatialLU,
  title={Spatial Language Understanding for Object Search in Partially Observed Cityscale Environments},
  author={Kaiyu Zheng and Deniz Bayazit and Rebecca Mathew and Ellie Pavlick and Stefanie Tellex},
  journal={ArXiv},
  year={2020},
  volume={abs/2012.02705}
}
We present a system that enables robots to interpret spatial language as a distribution over object locations for effective search in partially observable cityscale environments. We introduce the spatial language observation space and formulate a stochastic observation model under the framework of Partially Observable Markov Decision Process (POMDP) which incorporates information extracted from the spatial language into the robot's belief. To interpret ambiguous, context-dependent prepositions… Expand

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