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Exploring Variation of Natural Human Commands to a Robot in a Collaborative Navigation Task

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Figure

Figure 1:Interface showing robot text re-sent (sponses (lower left) to the Commander’s verbalinstructions, map (right), and the last still imageupper left).
Figure 3: DM-Wizard guidelines for consistent di-alogue behaviors (developed iteratively in pilot-ing) applied in a sample exchange.
Figure 4: Two wizards manage the labor of robot intelligence. Dialogues divide into a series of transac-tions where a naive participant gives an instruction, a Dialogue Manager (DM-Wizard) decides how tohandle it, and passes well-formed instructions to a Robot Navigator (RN) that moves the robot.
Figure 6: Proportions of landmark mentions tometric mentions within all command moves ofsubtype drive and rotate across experiment phases.There were 177, 333, and 316 occurrences of met-ric or landmark information in the training, mainphase 1, and main phase 2 to compute proportions,respectively.

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