Interactive Text2Pickup networks for natural language-based human-robot collaboration

Hyemin Ahn, Sungjoon Choi, Nuri Kim, Geonho Cha, Songhwai Oh

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


In this letter, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration that enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is expected to pick up an object instructed by a human, and to interact with the human when the given instruction is vague. The proposed network understands the command from the human user and estimates the position of the desired object first. To handle the inherent ambiguity in human language commands, a suitable question which can resolve the ambiguity is generated. The user's answer to the question is combined with the initial command and given back to the network, resulting in more accurate estimation. The experiment results show that given unambiguous commands, the proposed method can estimate the position of the requested object with an accuracy of 98.49% based on the test dataset. Given ambiguous language commands, we show that the accuracy of the pick up task increases by 1.94 times after incorporating the information obtained from the interaction.

Original languageEnglish
Pages (from-to)3308-3315
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - 2018 Oct
Externally publishedYes


  • Deep learning in robotics
  • learning and adaptive systems
  • social human-robot interaction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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