Robots are often deployed in remote locations for tasks such as exploration, where users cannot directly perceive the agent and its environment. For Human-In-The-Loop applications, operators must have a comprehensive understanding of the robot’s current state and its environment to take necessary actions and effectively assist the agent. In this work, we compare different explanation styles to determine the most effective way to convey real-time updates to users. Additionally, we formulate these explanation styles as separate fine-tuning tasks and assess the effectiveness of large language models in delivering in-mission updates to maintain situation awareness. The code and dataset for this work are available at:———

Referential ambiguities arise in dialogue when a referring expression does not uniquely identify the intended referent for the addressee. Addressees usually detect such ambiguities immediately and work with the speaker to repair it using meta-communicative, Clarificational Exchanges (CE): a Clarification Request (CR) and a response. Here, we argue that the ability to generate and respond to CRs imposes specific constraints on the architecture and objective functions of multi-modal, visually grounded dialogue models. We use the SIMMC 2.0 dataset to evaluate the ability of different state-of-the-art model architectures to process CEs, with a metric that probes the contextual updates that arise from them in the model. We find that language-based models are able to encode simple multi-modal semantic information and process some CEs, excelling with those related to the dialogue history, whilst multi-modal models can use additional learning objectives to obtain disentangled object representations, which become crucial to handle complex referential ambiguities across modalities overall.

Robust situated dialog requires the ability to process instructions based on spatial information, which may or may not be available. We propose a model, based on LXMERT, that can extract spatial information from text instructions and attend to landmarks on OpenStreetMap (OSM) referred to in a natural language instruction. Whilst, OSM is a valuable resource, as with any open-sourced data, there is noise and variation in the names referred to on the map, as well as, variation in natural language instructions, hence the need for data-driven methods over rule-based systems. This paper demonstrates that the gold GPS location can be accurately predicted from the natural language instruction and metadata with 72% accuracy for previously seen maps and 64% for unseen maps.

As transparency becomes key for robotics and AI, it will be necessary to evaluate the methods through which transparency is provided, including automatically generated natural language (NL) explanations. Here, we explore parallels between the generation of such explanations and the much-studied field of evaluation of Natural Language Generation (NLG). Specifically, we investigate which of the NLG evaluation measures map well to explanations. We present the ExBAN corpus: a crowd-sourced corpus of NL explanations for Bayesian Networks. We run correlations comparing human subjective ratings with NLG automatic measures. We find that embedding-based automatic NLG evaluation methods, such as BERTScore and BLEURT, have a higher correlation with human ratings, compared to word-overlap metrics, such as BLEU and ROUGE. This work has implications for Explainable AI and transparent robotic and autonomous systems.

Large corpora of task-based and open-domain conversational dialogues are hugely valuable in the field of data-driven dialogue systems. Crowdsourcing platforms, such as Amazon Mechanical Turk, have been an effective method for collecting such large amounts of data. However, difficulties arise when task-based dialogues require expert domain knowledge or rapid access to domain-relevant information, such as databases for tourism. This will become even more prevalent as dialogue systems become increasingly ambitious, expanding into tasks with high levels of complexity that require collaboration and forward planning, such as in our domain of emergency response. In this paper, we propose CRWIZ: a framework for collecting real-time Wizard of Oz dialogues through crowdsourcing for collaborative, complex tasks. This framework uses semi-guided dialogue to avoid interactions that breach procedures and processes only known to experts, while enabling the capture of a wide variety of interactions.

Access to sign language data is far from adequate. We show that it is possible to collect the data from social networking services such as TikTok, Instagram, and YouTube by applying data filtering to enforce quality standards and by discovering patterns in the filtered data, making it easier to analyse and model. Using our data collection pipeline, we collect and examine the interpretation of songs in both the American Sign Language (ASL) and the Brazilian Sign Language (Libras). We explore their differences and similarities by looking at the co-dependence of the orientation and location phonological parameters.

As autonomous systems become more commonplace, we need a way to easily and naturally communicate to them our goals and collaboratively come up with a plan on how to achieve these goals. To this end, we conducted a Wizard of Oz study to gather data and investigate the way operators would collaboratively make plans via a conversational ‘planning assistant’ for remote autonomous systems. We present here a corpus of 22 dialogs from expert operators, which can be used to train such a system. Data analysis shows that multimodality is key to successful interaction, measured both quantitatively and qualitatively via user feedback.

Automatic speech recognition and spoken dialogue systems have made great advances through the use of deep machine learning methods. This is partly due to greater computing power but also through the large amount of data available in common languages, such as English. Conversely, research in minority languages, including sign languages, is hampered by the severe lack of data. This has led to work on transfer learning methods, whereby a model developed for one language is reused as the starting point for a model on a second language, which is less resourced. In this paper, we examine two transfer learning techniques of fine-tuning and layer substitution for language modelling of British Sign Language. Our results show improvement in perplexity when using transfer learning with standard stacked LSTM models, trained initially using a large corpus for standard English from the Penn Treebank corpus.

As unmanned vehicles become more autonomous, it is important to maintain a high level of transparency regarding their behaviour and how they operate. This is particularly important in remote locations where they cannot be directly observed. Here, we describe a method for generating explanations in natural language of autonomous system behaviour and reasoning. Our method involves deriving an interpretable model of autonomy through having an expert ‘speak aloud’ and providing various levels of detail based on this model. Through an online evaluation study with operators, we show it is best to generate explanations with multiple possible reasons but tersely worded. This work has implications for designing interfaces for autonomy as well as for explainable AI and operator training.

Interactive systems have become an increasingly important type of application for deployment of NLG technology over recent years. At present, we do not yet have commonly agreed terminology or methodology for evaluating NLG within interactive systems. In this paper, we take steps towards addressing this gap by presenting a set of principles for designing new evaluations in our comparative evaluation methodology. We start with presenting a categorisation framework, giving an overview of different categories of evaluation measures, in order to provide standard terminology for categorising existing and new evaluation techniques. Background on existing evaluation methodologies for NLG and interactive systems is presented. The comparative evaluation methodology is presented. Finally, a methodology for comparative evaluation of NLG components embedded within interactive systems is presented in terms of the comparative evaluation methodology, using a specific task for illustrative purposes.