Robot Natural Language Term Disambiguation and Entity Labeling

An apparatus comprising:

• one or more physically moveable components;
• one or more processors;
• and
• one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the apparatus to perform operations comprising:
• receiving a natural language command from a user;
• identifying an ambiguous term in the command, wherein the ambiguous term references a location or an entity in an environment of the apparatus;
• identifying a user location indicator from one or more sensor inputs;
• computing a location within the environment of the apparatus using the location indicator identified from the one or more sensor inputs;
• computing resolution data using the computed location, wherein the resolution data resolves the reference of the ambiguous term;
• generating one or more actions using the natural language command and the resolved reference of the ambiguous term;
• and
• executing the one or more actions.

One or more non-transitory computer storage media encoded with computer program instructions that when executed by a robot having one or more processors cause the robot to perform operations comprising:

• receiving a natural language command from a user;
• identifying an ambiguous term in the command, wherein the ambiguous term references a location or an entity in an environment of the robot;
• identifying a user location indicator from one or more sensor inputs;
• computing a location within the environment of the robot using the location indicator identified from the one or more sensor inputs;
• computing resolution data using the computed location, wherein the resolution data resolves the reference of the ambiguous term;
• generating one or more actions using the natural language command and the resolved reference of the ambiguous term;
• and
• executing the one or more actions.