Sorry Dave, I'm Afraid I Can't Do That: Explaining Unachievable Robot Tasks Using Natural Language

Abstract : This paper addresses the challenge of enabling non-expert users to command robots to perform complex highleveltasks using natural language. It describes an integrated system that combines the power of formalmethods with the accessibility of natural language, providing correct-by-construction controllers for high-levelspecifications that can be implemented, and easy-to-understand feedback to the user on those that cannot be achieved.This is among the first works to close this feedback loop, enabling users to interact with the robot in order to identifya succinct cause of failure and obtain the desired controller. The supported language and logical capabilities areillustrated using examples involving a robot assistant in a hospital.

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