Table 2 States of the dialogue manager for the Wheelchair Skill Test domain

1

Avoid obstacle

2

Drive slowly backward

3

Drive slowly forward

4

Drive slowly one meter backward

5

Drive slowly two meters backward

6

Go down ridge

7

Move joystick away

8

Move joystick back

9

Roll forward

10

Set speed to fast

11

Set speed to medium

12

Tilt seat backward

13

Turn controller off

14

Turn controller on

15

Turn ninety degrees (left or right)

16

Drive fast backward

17

Drive fast forward

18

Tilt seat forward

19

Drive one meter forward

20

Drive two meters forward

21

Drive backward

22

Align to wall

23

Stop

24

Veer (left or right)

25

Turn a little (to the left or to the right)

26

Pass through door

27

Parking (to the left or to the right)