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Cooperation among humans makes it easy to execute tasks and navigateseamlessly even in unknown scenarios. With our individual knowledge andcollective cognition skills, we can reason about and perform well in unforeseensituations and environments. To achieve a similar potential for a robotnavigating among humans and interacting with them, it is crucial for it toacquire the ability for easy, efficient and natural ways of communication andcognition sharing with humans. In this work, we aim to exploit human gestureswhich is known to be the most prominent modality of communication after thespeech. We demonstrate how the incorporation of gestures for communicatingspatial understanding can be achieved in a very simple yet effective way usinga robot having the vision and listening capability. This shows a big advantageover using only Vision and Language-based Navigation, Language Grounding orHuman-Robot Interaction in a task requiring the development of cognition andindoor navigation. We adapt the state-of-the-art modules of Language Groundingand Human-Robot Interaction to demonstrate a novel system pipeline inreal-world environments on a Telepresence robot for performing a set ofchallenging tasks. To the best of our knowledge, this is the first pipeline tocouple the fields of HRI and language grounding in an indoor environment todemonstrate autonomous navigation.

Sharing Cognition: Human Gesture and Natural Language Grounding Based Planning and Navigation for Indoor Robots