| | Issue | Status | Action |
| 1 | Sound source localization. The robot should move in the direction of user and move forward. | Resolved | Used source beam angle to get the direction |
| 2 | Feedback problem from TTS. The audio stream keeps on listening its own voice (from TTS) and performs repeated action. Ex. User: Forward! Robot is moving forward TTS: Moving Forward! Robot is moving forward again because it hears TTS | Resolved | The audio stream is stopped before starting TTS and after TTS finishes, we start the audio stream, then start speech recognition and then load the grammar and tart listening again |
| 3 | Needs repetition of commands. | Closed | Works only in complete silence environment |
| 4 | Problems in differentiating similar sounding words, Ex. Start, Stop | Closed | We give different rhyming words. |
| 5 | Problem in user speech recognition because of different accent from the supportable language packs for Kinect. | Closed | Either the user has been trained for the accent or perform the experiment with a person whose native language is the one which is supported by Kinect language packs. |
| 6 | Cannot get histogram of probabilities for all words in dictionary as present setup using Microsoft Speech Recognition doesn't allow us to do so. | Unresolved | Cannot solve in the given time frame. Left for future work |
| | Issue | Status | Action |
| 1 | Go There command | Resolved | We project 3D vector connecting shoulder and hand to base plane (XZ) in robot frame. We then find angle between this vector and positive z axis direction. This angle is angle of rotation. Constraint: angle of rotation in range [-pi/2;pi/2] is not supported (user pointing behind him/her). |
| 2 | Unable to separate Left and Right commands | Resolved | We removed mirroring and solved this. But this introduced new constraint that query gesture should be done with same hand as was used in training. |
| 3 | Can not handle more than one person in Kinect field of view. | Unresolved | Recognition of user should be performed. This would allow robot to obey commands even in crowded environment. |
| 4 | Extra spurious skeletons, even when only one person is in front of robot. | Closed | Kinect noise. |
| 5 | Kinect has 4 meters range limitation. | Closed | Kinect feature. |