| 1. |
- Bruno, Barbara, et al.
(författare)
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Multi-modal sensing for human activity recognition
- 2015
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Ingår i: Proceedings of the 24th IEEE International Symposium on Robot and Human Interactive Communication, Kobe, Japan, Aug 31 - Sept 4, 2015. - New York : IEEE conference proceedings. - 9781467367042 ; , s. 594-600
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Konferensbidrag (refereegranskat)abstract
- Robots for the elderly are a particular category of home assistive robots, aiming at assisting the elderly inthe execution of daily life tasks to extend their independent life. To this aim, such robots should be able to determine the level of independence of the user and track its evolution over time, to adapt the assistance to the person capabilities and needs. Human Activity Recognition systems employ various sensing strategies, relying on environmental or wearable sensors,to recognize various daily life activities which provide insights on the health status of a person. The main contribution of the article is the design of an heterogeneous information management framework, allowing for the description of a wide variety of human activities in terms of multi-modal environmental and wearable sensing data and providing accurate knowledge about the user activity to any assistive robot.
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| 2. |
- Buyukgoz, Sera, et al.
(författare)
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Two ways to make your robot proactive : Reasoning about human intentions or reasoning about possible futures
- 2022
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Ingår i: Frontiers in Robotics and AI. - : Frontiers Media S.A.. - 2296-9144. ; 9
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Tidskriftsartikel (refereegranskat)abstract
- Robots sharing their space with humans need to be proactive to be helpful. Proactive robots can act on their own initiatives in an anticipatory way to benefit humans. In this work, we investigate two ways to make robots proactive. One way is to recognize human intentions and to act to fulfill them, like opening the door that you are about to cross. The other way is to reason about possible future threats or opportunities and to act to prevent or to foster them, like recommending you to take an umbrella since rain has been forecast. In this article, we present approaches to realize these two types of proactive behavior. We then present an integrated system that can generate proactive robot behavior by reasoning on both factors: intentions and predictions. We illustrate our system on a sample use case including a domestic robot and a human. We first run this use case with the two separate proactive systems, intention-based and prediction-based, and then run it with our integrated system. The results show that the integrated system is able to consider a broader variety of aspects that are required for proactivity.
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| 3. |
- Crowley, James L., et al.
(författare)
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A Hierarchical Framework for Collaborative Artificial Intelligence
- 2023
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Ingår i: IEEE pervasive computing. - : IEEE Computer Society. - 1536-1268 .- 1558-2590. ; 22:1, s. 9-18
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Tidskriftsartikel (refereegranskat)abstract
- We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each level building on capabilities provided by lower levels. We review research paradigms at each level, with a description of classical engineering-based approaches and modern alternatives based on machine learning, illustrated with a running example using a hypothetical personal service robot. We discuss cross-cutting issues that occur at all levels, focusing on the problem of communicating and sharing comprehension, the role of explanation and the social nature of collaboration. We conclude with a summary of research challenges and a discussion of the potential for economic and societal impact provided by technologies that enhance human abilities and empower people and society through collaboration with intelligent systems.
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| 4. |
- Di Rocco, Maurizio, 1982-, et al.
(författare)
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A Planner for Ambient Assisted Living : From High-Level Reasoning to Low-Level Robot Execution and Back
- 2014
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Ingår i: Papers from the AAAI Spring Symposium. - : AAAI Press.
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Konferensbidrag (refereegranskat)abstract
- Robot ecologies are a growing paradigm in which oneor several robotic systems are integrated into a smartenvironment. Robotic ecologies hold great promises forelderly assistance. Planning the activities of these systems,however, is not trivial, and requires considerationof issues like temporal and information dependenciesamong different parts of the ecology, exogenous actions,and multiple, dynamic goals. We describe a plannerable to cope with the above challenges. We showin particular how this planner has been incorporatedin closed-loop into a full robotic system that performsdaily tasks in support of elderly people. The full robotecology is deployed in a test apartment inside a real residentialbuilding, and it is currently undergoing an extensiveuser evaluation.
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| 5. |
- Grosinger, Jasmin, 1984-, et al.
(författare)
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Agile Life : addressing knowledge and social motivations for active aging
- 2012
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Ingår i: Proceedings of the 24th Australian Computer-Human Interaction Conference. - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450314381 ; , s. 162-165
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Konferensbidrag (refereegranskat)abstract
- Despite the inter-relationship between physical, cognitive and social factors for older people, the frequency of physical activity typically decreases with age. In this paper, we focus on two specific issues related to physical activity and older people - overcoming the knowledgebarrier and promoting social motivation. We develop a tablet-based prototype called Agile Life that provides ‘Physical Activity Information Chunks’ (PAICs) and also promotes awareness of friends’ activities and opportunities to join in. The results of a user study, including a think-aloud walkthrough and an adapted technology probe, suggest that the social engagement with friends is a strong motivator but that the content of information chunks need to be carefully tailored to the participant. We provide suggestions for further developing an activity application for this age group.
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| 6. |
- Grosinger, Jasmin, 1984-, et al.
(författare)
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Find Out Why Reading This Paper is an Opportunity of Type Opp0
- 2014
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Ingår i: CogRob 2014.
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Konferensbidrag (refereegranskat)abstract
- Under what conditions should a cognitive robot act? How do we define “opportunities” for robot action? How can we characterize their properties? This paper offers an apparatus to frame thediscussion. Starting from a simple introductory example, we specifyan initial version of a formal framework of opportunity which relates current and future states and beneficial courses of action in a certain time horizon. An opportunity reasoning algorithm is presented,which opens up various new questions about the different types of opportunity and how to interleave opportunity reasoning and action execution. An implementation of this algorithm is tested in a simple experiment including a real mobile robot in a smart home environment and a user.
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| 7. |
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| 8. |
- Grosinger, Jasmin, 1984-
(författare)
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On Making Robots Proactive
- 2019
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The question addressed in this thesis is: Can we make robots proactive? Proactivity is understood as self-initiated, anticipatory action. This entails the ability to generate own goals and pursue them. Our work is based on the assumption that proactivity makes robots more acceptable in human-inhabited environments. Proactive behavior is opposed to reactive behavior which is merely responding to external events and explicit requests (by the user). We approach the question of how to make robots proactive by first identifying the necessary cognitive capabilities, how they relate and interact. We find that to enable proactive behavior one needs to bridge the gap between context, planning, acting and goal reasoning. We then propose a model of opportunity which formalizes and relates these cognitive capabilities in order to create proactivity. In order to make the model of opportunity computational we introduce a framework called equilibrium maintenance. We show formally and empirically that the framework can make robots act in a proactive way. We can make guarantees about the behavior of a robot acting based on equilibrium maintenance: we prove that given certain assumptions a system employing our framework is kept within desirable states. Equilibrium maintenance is instantiated in different scenarios, both theoretically and in practice by deploying it in a number of systems including both robots and humans. More specifically, we conduct experimental runs in simulation in the domain of robotic disaster management and we implement the framework on a real robot in a domestic environment. The latter is done by integration in different levels, from conceptual examples to closing the loop with a full robotic system. Empirical results confirm that equilibrium maintenance creates proactive behavior and leads to preferable outcomes.
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| 9. |
- Grosinger, Jasmin, 1984-, et al.
(författare)
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Proactivity through equilibrium maintenance with fuzzy desirability
- 2017
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Ingår i: 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781538616451 - 9781538616444 - 9781538616468
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Konferensbidrag (refereegranskat)abstract
- Proactive cognitive agents need to be capable ofboth generating their own goals and enacting them. In thispaper, we cast this problem as that ofmaintaining equilibrium,that is, seeking opportunities to act that keep the system indesirable states while avoiding undesirable ones. We characterizedesirability of states as graded preferences, using mechanismsfrom the field of fuzzy logic. As a result, opportunities for anagent to act can also be graded, and their relative preferencecan be used to infer when and how to act. This paper providesa formal description of our computational framework, andillustrates how the use of degrees of desirability leads to well-informed choices of action.
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| 10. |
- Grosinger, Jasmin, 1984-, et al.
(författare)
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Robots and Bananas : Exploring Deliberation in Cognitive Robots
- 2014
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Ingår i: AI and Robotics.
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Konferensbidrag (refereegranskat)abstract
- Under what conditions should a cognitive robot act? How do we define “opportunities” for robot action? How can we characterize their properties? In this po-sition paper, we offer an initial apparatus to formalize opportunities and to frame this discussion.
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