Interactive text response for assistive robotics in the home
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In a home environment, there are many tasks that a human may need to accomplish. These activities, which range from picking up a telephone to clearing rooms in the house, all have the common trend of fetching. These tasks can only be completed correctly with the consideration of many things including an understanding of what the human wants, recognition of the correct item from the environment, and manipulation and grasping of the object of interest. The focus of this work is on addressing one aspect of this problem, decomposing an image scene such that a task-specific object of interest can be identified. In this work, communication between human and robot is represented using a feedback formalism. This involves the back-and-forth transfer of textual information between the human and the robot such that the robot receives all information necessary to recognize the task-specific object of interest. We name this new communication mechanism Interactive Text Response (ITR), which we believe will provide a novel contribution to the field of Human Robot Interaction. The methodology employed involves capturing a view of the scene that contains an object of interest. Then, the robot makes inquiries based on its current understanding of the scene to disambiguate between objects in the scene. In this work, we discuss development of ITR in human-robot interaction, and understanding of variability, ease of recognition, clutter, and workload needed to develop an interactive robot system.