Mapping natural language procedures descriptions to linear temporal logic templates: an application in the surgical robotic domain

Abstract

Natural language annotations and manuals can provide useful procedural information and relations for the highly specialized scenario of autonomous robotic task planning. In this paper, we propose and publicly release AUTOMATE, a pipeline for automatic task knowledge extraction from expert-written domain texts. AUTOMATE integrates semantic sentence classification, semantic role labeling, and identification of procedural connectors, in order to extract templates of Linear Temporal Logic (LTL) relations that can be directly implemented in any sufficiently expressive logic programming formalism for autonomous reasoning, assuming some low-level commonsense and domain-independent knowledge is available. This is the first work that bridges natural language descriptions of complex LTL relations and the automation of full robotic tasks. Unlike most recent similar works that assume strict language constraints in substantially simplified domains, we test our pipeline on texts that reflect the expressiveness of natural language used in available textbooks and manuals. In fact, we test AUTOMATE in the surgical robotic scenario, defining realistic language constraints based on a publicly available dataset. In the context of two benchmark training tasks with texts constrained as above, we show that automatically extracted LTL templates, after translation to a suitable logic programming paradigm, achieve comparable planning success in reduced time, with respect to logic programs written by expert programmers.