Gesture Enhanced Comprehension of Ambiguous Human-to-Robot Instructions

This work demonstrates the feasibility and benefits of using pointing gestures, a naturally-generated additional input modality, to improve the multi-modal comprehension accuracy of human instructions to robotic agents for collaborative tasks.We present M2Gestic, a system that combines neural-based text parsing with a novel knowledge-graph traversal mechanism, over a multi-modal input of vision, natural language text and pointing. Via multiple studies related to a benchmark table top manipulation task, we show that (a) M2Gestic can achieve close-to-human performance in reasoning over unambiguous verbal instructions, and (b) incorporating pointing input (even with its inherent location uncertainty) in M2Gestic results in a significant (30%) accuracy improvement when verbal instructions are ambiguous.