Situation Language Understanding Robot Platform

SLURP is a system for converting natural language commands into controls for a robot.

SLURP consists of a number of modules:

• Penn Pipeline: The UPenn natural language processing pipeline
• Semantics: Natural language understanding tools
• JR: Interface to the UMass Lowell Robotics Lab ATRV Jr. platform
• LTLBroom: Interface to the Cornell Autonomous Systems Lab LTLMoP platform

SLURP has been tested on OS X, Linux, and Windows.

• If you use git, clone the repository URL above, i.e., git clone https://github.com/PennNLP/SLURP.git
• If you cannot use git, click "Downloads" above and download a .zip/.tar.gz.

• Java JRE 1.6 or 1.7
• Python 2.7 (not 3.x)
• Python numpy and Polygon2 (may be required because of LTLMoP)

• You need to download the Penn Pipeline by running python download.py. If you can't run that script on a machine with internet access, download https://github.com/PennNLP/SUBTLEPipeline/archive/master.zip and unzip it in the root of the repository. You then need to decompress the parser model located at SUBTLEPipeline-master/models/wsjall.obj.gz to wsjall.obj in the same folder.
• You will need to configure all the dependencies so that the executable are on your PATH (i.e., java, python).

To confirm that the pipeline is working, try the following:

• In one terminal, run python pipelinehost.py
• In another terminal, run python test_pipelinehost.py and enter any sentence you want and hit enter.

An example from a working system:

Terminal 1:

$ python pipelinehost.py
pipelinehost: Waiting for connection...
pipelinehost: Connected to ('127.0.0.1', 51188)
Message: {u'text': u'This is a test.'}
Parsing...
Sending: '(S  (NP-SBJ-A (DT This)) (VP (VBZ is) (NP-PRD-A (DT a) (NN test)))(. .))'

Terminal 2:

$ python test_pipelinehost.py
> This is a test.
Sending: '{"text": "This is a test."}\n'
Waiting for response...
(S  (NP-SBJ-A (DT This)) (VP (VBZ is) (NP-PRD-A (DT a) (NN test)))(. .))

Clone the LTLMoP repository recursively with: git clone --recursive git://github.com/LTLMoP/LTLMoP.git

Checkout the LTLMoP gumbo branch via: git checkout gumbo

Compile the java code in LTLMoP/src/etc/jtlv via: sh build.sh

Checkout the frames (trouble checking out pragbot branch from LTLMoP) branch of SLURP via:

• cd LTLMoP/src/etc/SLURP
• git fetch origin frames
• git checkout frames

Run:

• LTLMoP/src/etc/SLURP/pipelinehost.py
• LTLMoP/src/etc/SLURP/run_pragbot_slurp_server.sh
• Compile Pragbot code (see Pragbot repo)
• Pragbot/run_slurpserver.sh
• Pragbot/run_client.sh*