Xingkun Liu

Xingkun Liu
Heriot-Watt University · School of Mathematical and Computer Sciences

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54
Publications
6,215
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534
Citations

Publications

Publications (54)
Article
Bio-inspired jumping robots should achieve stable jumping in field environment. Robots easily lose stability because of the complex terrain and large speed change. Lateral jumping of the robot with four-bar jumping legs under rugged terrain was used as the research object, and a method to achieve good dynamic stability by adjusting the leg attitude...
Chapter
We have recently seen the emergence of several publicly available Natural Language Understanding (NLU) toolkits, which map user utterances to structured, but more abstract, Dialogue Act (DA) or Intent specifications, while making this process accessible to the lay developer. In this paper, we present the first wide coverage evaluation and compariso...
Article
Full-text available
One degree-of-freedom (DOF) jumping leg has the advantages of simple control and high stiffness, and it has been widely used in bioinspired jumping robots. Compared with four-bar jumping leg, six-bar jumping leg mechanism can make the robot achieve more abundant motion rules. However, the differences among different configurations have not been ana...
Preprint
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...
Article
Full-text available
A jumping leg with one degree of freedom (DOF) is characterized by high rigidity and simple control. However, robots are prone to motion failure because they might tip over during the jumping process due to reduced mechanism flexibility. Mechanism design, configuration optimization, and experimentation were conducted in this study to achieve jumpin...
Article
The one-degree-of-freedom (DOF) mechanism has a simple structure, convenient control, and high stiffness, and it has been applied in many micro jumping robots. Meanwhile, the six- and eight-bar mechanisms can satisfy more complex motion requirements than the four-bar jumping leg mechanism and they have good application prospects. However, the lack...
Article
Jumping robots can overcome obstacles strongly and are suitable for complex terrain environments. However, the takeoff parameters of most jumping robots, especially pause-and-leap jumping robots, cannot be changed accurately. Moreover, the stability of the flight and landing of these robots needs to be improved. On the basis of observations of the...
Preprint
Full-text available
We present the first complete spoken dialogue system driven by a multi-dimensional statistical dialogue manager. This framework has been shown to substantially reduce data needs by leveraging domain-independent dimensions, such as social obligations or feedback, which (as we show) can be transferred between domains. In this paper, we conduct a user...
Conference Paper
Full-text available
Autonomous vehicles and robots are increasingly being deployed to remote, dangerous environments in the energy sector, search and rescue and the military. As a result, there is a need for humans to interact with these robots to monitor their tasks, such as inspecting and repairing offshore wind-turbines. Conversational Agents can improve situation...
Preprint
Full-text available
Collaboration between human supervisors and remote teams of robots is highly challenging, particularly in high-stakes, distant, hazardous locations, such as off-shore energy platforms. In order for these teams of robots to truly be beneficial, they need to be trusted to operate autonomously, performing tasks such as inspection and emergency respons...
Preprint
We have recently seen the emergence of several publicly available Natural Language Understanding (NLU) toolkits, which map user utterances to structured, but more abstract, Dialogue Act (DA) or Intent specifications, while making this process accessible to the lay developer. In this paper, we present the first wide coverage evaluation and compariso...
Preprint
Full-text available
Autonomous underwater vehicles (AUVs) are being tasked with increasingly complex missions. The acoustic communications required for AUVs are, by the nature of the medium, low bandwidth while adverse environmental conditions underwater often mean they are also intermittent. This has motivated development of highly autonomous systems, which can opera...
Conference Paper
Full-text available
Autonomous systems are designed to carry out activities in remote, hazardous environments without the need for operators to micro-manage them. It is, however, essential that operators maintain situation awareness in order to monitor vehicle status and handle unforeseen circumstances that may affect their intended behaviour, such as a change in the...
Conference Paper
To have a significant and fair competition an adequate scoring system is necessary. Different scoring systems exist, each one directly related to the nature and goals of the competition, e.g. student/educational, focused on benchmarking, Grand Challenge style, etc. However, the design of such systems is not an easy task. It is mandatory to design a...
Article
Autonomous systems in remote locations have a high degree of autonomy and there is a need to explain what they are doing and why in order to increase transparency and maintain trust. Here, we describe a natural language chat interface that enables vehicle behaviour to be queried by the user. We obtain an interpretable model of autonomy through havi...
Article
Ubiquitous mobile computing offers innovative approaches in the delivery of information that can facilitate free roaming of the city, informing and guiding the tourist as the city unfolds before them. However making frequent visual reference to mobile devices can be distracting, the user having to interact via a small screen thus disrupting the exp...
Chapter
In the past 10 years, very few published studies include some kind of extrinsic evaluation of an NLG component in an end-to-end-system, be it for phone or mobile-based dialogues or social robotic interaction. This may be attributed to the fact that these types of evaluations are very costly to set-up and run for a single component. The question the...
Conference Paper
For autonomous systems to be accepted by society and operators, they have to instil the appropriate level of trust. In this paper, we discuss what dimensions constitute trust and examine certain triggers of trust for an autonomous underwater vehicle, comparing a multimodal command and control interface with a language-only reporting system. We conc...
Conference Paper
A prototype will be demonstrated that takes activity and sensor data from Autonomous Underwater Vehicles (AUVs) and automatically generates multimodal output in the form of mission reports containing natural language and visual elements. Specifically, the system takes time-series sensor data, mission logs, together with mission plans as its input,...
Conference Paper
Full-text available
Staged at Piombino, Italy in September 2015, euRathlon 2015 was the world’s first multi-domain (air, land and sea) multi-robot search and rescue competition. In a mock-disaster scenario inspired by the 2011 Fukushima NPP accident, the euRathlon 2015 Grand Challenge required teams of robots to cooperate to map the area, find missing workers and stem...
Conference Paper
Full-text available
In the past 10 years, only around 15% of published conference papers include some kind of extrinsic evaluation of an NLG component in an end-to-end system. These types of evaluations are costly to setup and run, so is it worth it? Is there anything to be gained over and above intrinsic quality measures obtained in off-line experiments? In this pape...
Conference Paper
Smartphones are increasingly ubiquitous, offer many location based services, and act as a conduit for the gathering and delivery of (spatial) information. There is considerable interest in Smartphones that support dialogue based interaction (e.g. Siri), as a way of learning about their surroundings (Bartie & Mackaness 2006, Janarthanam et al. 2013)...
Conference Paper
Full-text available
We present a city navigation and tourist information mobile dialogue app with integrated question-answering (QA) and geographic information system (GIS) modules that helps pedestrian users to navigate in and learn about urban environments. In contrast to existing mobile apps which treat these problems independently, our Android app addresses the pr...
Conference Paper
Full-text available
This paper presents the first demonstration of a statistical spoken dialogue system that uses automatic belief compression to reason over complex user goal sets. Reasoning over the power set of possible user goals allows complex sets of user goals to be represented, which leads to more natural dialogues. The use of the power set results in a massiv...
Conference Paper
Full-text available
We demonstrate a spoken dialogue-based information system for pedestrians. The system is novel in combining geographic information system (GIS) modules such as a visibility engine with a question-answering (QA) system, integrated within a dialogue system architecture. Users of the demonstration system can use a web-based version (simulating pedestr...
Conference Paper
Full-text available
We focus on the problems of using Natural Language interaction to support pedestrians in their place-related knowledge acquisition. Our case study for this discussion is a smartphone-based Natural Language interface that allows users to acquire spatial and cultural knowledge of a city. The framework consists of a spoken dialogue-based information s...
Conference Paper
We demonstrate a web-based environment for development and testing of different pedestrian route instruction-giving systems. The environment contains a City Model, a TTS interface, a game-world, and a user GUI including a simulated street-view. We describe the environment and components, the metrics that can be used for the evaluation of pedestrian...
Conference Paper
Full-text available
Educational tools are essential in teaching the field of Spoken Dialogue Systems given the complexity and variety of disciplines involved. This paper describes DUDE, a Dialogue and Understanding Development Environment that enables researchers and students to efficiently create Information State Update (ISU) Spoken Dialogue Systems using large scal...
Conference Paper
Full-text available
We present evaluation results with human subjects for a novel data-driven approach to Natural Language Generation in spoken dialogue systems. We evaluate a trained Information Presentation (IP) strategy in a deployed tourist-information spoken dialogue system. The IP problem is formulated as statistical decision making under uncertainty using Reinf...
Conference Paper
Full-text available
Generating Temporal Expressions (TE) that are easy to understand, unambiguous, and reasonably short is a challenge for humans and Spoken Dialogue Systems. Rather than developing hand-written decision rules, we adopt a data-driven approach by collecting user feedback on a variety of possible TEs in terms of task success, ambiguity, and user preferen...
Article
This document is a short report to accompany the prototype deliverable 3.6, due at month 30 of the CLASSiC project. The prototype focuses on user simulations which can represent different types of user, in both the Appointment Scheduling and Self-Help domains. This deliverable has been delayed to month 33 due to the time required to analyse data fr...
Conference Paper
Full-text available
We demonstrate DUDE (Dialogue and Understanding Development Environment), a prototype development environment that automatically generates dialogue systems from business-user resources and databases. These generated spoken dialogue systems (SDS) are then deployed on an industry standard Voice XML platform. Specifically, the deployed system works by...
Conference Paper
Full-text available
Building effective spoken dialogue sys- tems (SDS) is currently a complex task requiring expert knowledge. Our tools give control of SDS application develop- ment to non-experts, who need only use a Graphical User Interface or GUI to de- velop state-of-the-art "Information State Update" (ISU) dialogue systems. Behind the GUI is a set of Advanced Di...

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