Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot for assisting visually impaired people in obstacle avoidance and navigation. Enabling language capabilities on robotic guide dogs goes beyond naively adding an existing dialog system onto a mobile robot. The novel challenges include grounding language to the dynamically changing environment and improving spatial awareness for the human handler. To address those challenges, we develop a novel dialog system for robotic guide dogs that uses large language models to verbalize both navigational plans and scenes. The goal is to enable verbal communication for collaborative decision-making within the handler-robot team. In experiments, we performed a human study to evaluate different verbalization strategies, and a simulation study to evaluate the efficiency and accuracy in navigation tasks.

Rule representations significantly influence the search capabilities and decision boundaries within the search space of Learning Classifier Systems (LCSs). However, it is very difficult to choose an appropriate rule representation for each problem. Additionally, some problems benefit from using different representations for different subspaces within the input space. Thus, an adaptive mechanism is needed to choose an appropriate rule representation for each rule in LCSs. This article introduces a flexible rule representation using a four-parameter beta distribution and integrates it into a fuzzy-style LCS. The four-parameter beta distribution can form various function shapes, and this flexibility enables our LCS to automatically select appropriate representations for different subspaces. Our rule representation can represent crisp/fuzzy decision boundaries in various boundary shapes, such as rectangles and bells, by controlling four parameters, compared to the standard representations such as trapezoidal ones. Leveraging this flexibility, our LCS is designed to adapt the appropriate rule representation for each subspace. Moreover, our LCS has a generalization bias to produce as many crisp rules as possible. Experimental results on real-world classification tasks show that our LCS significantly outperformed LCSs with popular rule representations in test classification accuracy on up to 17 of the 25 datasets tested.

Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual efforts. People can use natural language to describe dance moves. Could one use a formal language to specify quadruped gaits? To this end, we aim to enable easy gait specification and efficient policy learning. Leveraging Reward Machines (RMs) for high-level gait specification over foot contacts, our approach is called RM-based Locomotion Learning (RMLL), and supports adjusting gait frequency at execution time. Gait specification is enabled through the use of a few logical rules per gait (e.g., alternate between moving front feet and back feet) and does not require labor-intensive motion priors. Experimental results in simulation highlight the diversity of learned gaits (including two novel gaits), their energy consumption and stability across different terrains, and the superior sample-efficiency when compared to baselines. We also demonstrate these learned policies with a real quadruped robot. Video and supplementary materials: https://sites.google.com/view/rm-locomotion-learning/home

This paper focuses on the impact of rule representation in Michigan-style Learning Fuzzy-Classifier Systems (LFCSs) on its classification performance. A well-representation of the rules in an LFCS is crucial for improving its performance. However, conventional rule representations frequently need help addressing problems with unknown data characteristics. To address this issue, this paper proposes a supervised LFCS (i.e., Fuzzy-UCS) with a self-adaptive rule representation mechanism, entitled Adaptive-UCS. Adaptive-UCS incorporates a fuzzy indicator as a new rule parameter that sets the membership function of a rule as either rectangular (i.e., crisp) or triangular (i.e., fuzzy) shapes. The fuzzy indicator is optimized with evolutionary operators, allowing the system to search for an optimal rule representation. Results from extensive experiments conducted on continuous space problems demonstrate that Adaptive-UCS outperforms other UCSs with conventional crisp-hyperrectangular and fuzzy-hypertrapezoidal rule representations in classification accuracy. Additionally, Adaptive-UCS exhibits robustness in the case of noisy inputs and real-world problems with inherent uncertainty, such as missing values, leading to stable classification performance.

Service robots need language capabilities for communicating with people, and navigation skills for beyond-proximity interaction in the real world. When the robot explores the real world with people side by side, there is the compound problem of human-robot dialog and co-navigation. The human-robot team uses dialog to decide where to go, and their shared spatial awareness affects the dialog state. In this paper, we develop a framework that learns a joint policy for human-robot dialog and co-navigation toward efficiently and accurately completing tour guide and information delivery tasks. We show that our approach outperforms baselines from the literature in task completion rate and execution time, and demonstrate our approach in the real world.

This paper focuses on the concept of "absumption" which restrains over-general rules by decomposing them into several concrete rules, proposes the novel "absumption" for continuous spaces by improving the conventional absumption to achieve high performance (e.g., the acquired rewards) in a noisy environment, and integrates it into the XCS for real-valued inputs (XCSR) to evaluate it through a comparison with the conventional absumption. Concretely, the proposed absumption mechanism based on Overgenerality and Condition-clustering based specialization (called Absumption-OC) manipulates the balance between the Overgenerality of the rules and the specialization of Condition of the rules. Through the intensive experiments of three different types of continuous space problems, the following implications have been revealed: (1) XCSR with Absumption-OC shows the statistically significant performance in the acquired reward, the system error, and the population size against XCSR with the conventional absumption; and (2) this effectiveness of Absumption-OC becomes to be clear in noisy reward environments in comparison within noiseless reward environments.

This paper focuses on the rule representation in Learning Classifier System (LCS) and proposes a flexible representation mechanism that can generate a variety of shapes of its matching area with one rule condition of a classifier. Concretely, the proposed representation mechanism changes the shape of the matching area according to the logical product or multiplication of the values of the probability distribution in the multiple dimension. As one of its implementation, this paper introduces the beta distribution in XCS for continuous space. Through intensive experiments of different types of continuous space problems, the following implications have been revealed: XCS based on the beta distribution (1) can match line and curved shapes using the same classifier; (2) can obtain higher reward values with the same or fewer classifiers than the conventional representations (i.e., the hyperrectangular and hyperellipsoidal representations); and (3) is robust to variations in the shape of the class boundary, contributing to stable classification performance.

This paper proposes ELPSDeCS (Encoding, Learning, "Plausible" Sampling, and Decoding Classifier System) by extending ELSDeCS (Encoding, Learning, Sampling, and Decoding Classifier System) to increase both the accuracy and interpretability of the generated classifiers which matches the high-dimensional input such as images. The experimental results on the complex multi-class classification problem of the handwritten numerals show that both the accuracy and interpretability of ELPSDeCS are higher than that of ELSDeCS.