| 1. |
- Almeida, Tiago, 1996-, et al.
(författare)
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THÖR-Magni : Comparative Analysis of Deep Learning Models for Role-Conditioned Human Motion Prediction
- 2023
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Ingår i: 2023 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW). - : IEEE. - 9798350307450 - 9798350307443 ; , s. 2192-2201
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Konferensbidrag (refereegranskat)abstract
- Autonomous systems, that need to operate in human environments and interact with the users, rely on understanding and anticipating human activity and motion. Among the many factors which influence human motion, semantic attributes, such as the roles and ongoing activities of the detected people, provide a powerful cue on their future motion, actions, and intentions. In this work we adapt several popular deep learning models for trajectory prediction with labels corresponding to the roles of the people. To this end we use the novel THOR-Magni dataset, which captures human activity in industrial settings and includes the relevant semantic labels for people who navigate complex environments, interact with objects and robots, work alone and in groups. In qualitative and quantitative experiments we show that the role-conditioned LSTM, Transformer, GAN and VAE methods can effectively incorporate the semantic categories, better capture the underlying input distribution and therefore produce more accurate motion predictions in terms of Top-K ADE/FDE and log-likelihood metrics.
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| 2. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Age-Related Differences in the Perception of Eye-Gaze from a Social Robot
- 2021
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Ingår i: Social Robotics. - Cham : Springer. - 9783030905255 - 9783030905248 ; , s. 350-361
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Konferensbidrag (refereegranskat)abstract
- The sensibility to deictic gaze declines naturally with age and often results in reduced social perception. Thus, the increasing efforts in developing social robots that assist older adults during daily life tasks need to consider the effects of aging. In this context, as non-verbal cues such as deictic gaze are important in natural communication in human-robot interaction, this paper investigates the performance of older adults, as compared to younger adults, during a controlled, online (visual search) task inspired by daily life activities, while assisted by a social robot. This paper also examines age-related differences in social perception. Our results showed a significant facilitation effect of head movement representing deictic gaze from a Pepper robot on task performance. This facilitation effect was not significantly different between the age groups. However, social perception of the robot was less influenced by its deictic gaze behavior in older adults, as compared to younger adults. This line of research may ultimately help informing the design of adaptive non-verbal cues from social robots for a wide range of end users.
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| 3. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Age-Related Differences in the Perception of Robotic Referential Gaze in Human-Robot Interaction
- 2022
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Ingår i: International Journal of Social Robotics. - : Springer. - 1875-4791 .- 1875-4805. ; , s. 1-13
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Tidskriftsartikel (refereegranskat)abstract
- There is an increased interest in using social robots to assist older adults during their daily life activities. As social robots are designed to interact with older users, it becomes relevant to study these interactions under the lens of social cognition. Gaze following, the social ability to infer where other people are looking at, deteriorates with older age. Therefore, the referential gaze from robots might not be an effective social cue to indicate spatial locations to older users. In this study, we explored the performance of older adults, middle-aged adults, and younger controls in a task assisted by the referential gaze of a Pepper robot. We examined age-related differences in task performance, and in self-reported social perception of the robot. Our main findings show that referential gaze from a robot benefited task performance, although the magnitude of this facilitation was lower for older participants. Moreover, perceived anthropomorphism of the robot varied less as a result of its referential gaze in older adults. This research supports that social robots, even if limited in their gazing capabilities, can be effectively perceived as social entities. Additionally, this research suggests that robotic social cues, usually validated with young participants, might be less optimal signs for older adults.Supplementary Information: The online version contains supplementary material available at 10.1007/s12369-022-00926-6.
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| 4. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Augmented Reality as an Advanced Driver-Assistance System : A Cognitive Approach
- 2018
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Ingår i: Proceedings of The 6th HUMMANIST Conference. - 9782953171259
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Konferensbidrag (refereegranskat)abstract
- AR is progressively being implemented in the automotive domain as an ADAS system. This increasingly popular technology has the potential to reduce the fatalities on the road which involve HF, however the cognitive components of AR are still being studied. This review provides a quick overview of the studies related with the cognitive mechanisms involved in AR while driving to date. Related research is varied, a taxonomy of the outcomes is provided. AR systems should follow certain criteria to avoid undesirable outcomes such as cognitive capture. Only information related with the main driving task should be shown to the driver in order to avoid occlusion of the real road by non-driving related tasks and high mental workload. However, information should not be shown at all times so it does not affect the driving skills of the users and they do not develop overreliance in the system, which may lead to risky behaviours. Some popular uses of AR in the car are navigation and as safety system (i.e. BSD or FCWS). AR cognitive outcomes should be studied in these particular contexts in the future. This article is intended as a mini-guide for manufacturers and designers in order to improve the quality and the efficiency of the systems that are currently being developed.
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| 5. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Can the robot "see" what I see? Robot gaze drives attention depending on mental state attribution
- 2023
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Ingår i: Frontiers in Psychology. - : Frontiers Media S.A.. - 1664-1078. ; 14
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Tidskriftsartikel (refereegranskat)abstract
- Mentalizing, where humans infer the mental states of others, facilitates understanding and interaction in social situations. Humans also tend to adopt mentalizing strategies when interacting with robotic agents. There is an ongoing debate about how inferred mental states affect gaze following, a key component of joint attention. Although the gaze from a robot induces gaze following, the impact of mental state attribution on robotic gaze following remains unclear. To address this question, we asked forty-nine young adults to perform a gaze cueing task during which mental state attribution was manipulated as follows. Participants sat facing a robot that turned its head to the screen at its left or right. Their task was to respond to targets that appeared either at the screen the robot gazed at or at the other screen. At the baseline, the robot was positioned so that participants would perceive it as being able to see the screens. We expected faster response times to targets at the screen the robot gazed at than targets at the non-gazed screen (i.e., gaze cueing effect). In the experimental condition, the robot's line of sight was occluded by a physical barrier such that participants would perceive it as unable to see the screens. Our results revealed gaze cueing effects in both conditions although the effect was reduced in the occluded condition compared to the baseline. These results add to the expanding fields of social cognition and human-robot interaction by suggesting that mentalizing has an impact on robotic gaze following.
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| 6. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Gaze cueing in older and younger adults is elicited by a social robot seen from the back
- 2023
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Ingår i: Cognitive Systems Research. - : Elsevier. - 2214-4366 .- 1389-0417. ; 82
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Tidskriftsartikel (refereegranskat)abstract
- The ability to follow the gaze of others deteriorates with age. This decline is typically tested with gaze cueing tasks, in which the time it takes to respond to targets on a screen is faster when they are preceded by a facial cue looking in the direction of the target (i.e., gaze cueing effect). It is unclear whether age-related differences in this effect occur with gaze cues other than the eyes, such as head orientation, and how these vary in function of the cue-target timing. Based on the perceived usefulness of social robots to assist older adults, we asked older and young adults to perform a gaze cueing task with the head of a NAO robot as the central cue. Crucially, the head was viewed from the back, and so its eye gaze was conveyed. In a control condition, the head was static and faced away from the participant. The stimulus onset asynchrony (SOA) between cue and target was 340 ms or 1000 ms. Both age groups showed a gaze cueing effect at both SOAs. Older participants showed a reduced facilitation effect (i.e., faster on congruent gazing trials than on neutral trials) at the 340-ms SOA compared to the 1000-ms SOA, and no differences between incongruent trials and neutral trials at the 340-ms SOA. Our results show that a robot with non-visible eyes can elicit gaze cueing effects. Age-related differences in the other effects are discussed regarding differences in processing time.
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| 7. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Interdisciplinary Approaches in Human-Agent Interaction
- 2023
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Ingår i: HAI '23: Proceedings of the 11th International Conference on Human-Agent Interaction. - : Association for Computing Machinery (ACM). - 9798400708244 ; , s. 504-506
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Konferensbidrag (refereegranskat)abstract
- As the field of human-agent interaction (HAI) matures, it becomes essential to acknowledge and address the differing multidisciplinary approaches that support it to favor a common interdisciplinary understanding, thus adopting a broader methodological and epistemological perspective. The field of HAI recognizes that agents are not merely isolated technologies but embedded within society. Consequently, the advancement of HAI is not only part of an engineering problem but one that must be informed by diverse disciplines such as legal, philosophical, psychological, design, medical, and sociological, among others. The goal of this workshop is to provide a space where participants can explore the diverse methodologies that compose HAI, reflect on diverse research practices –with their strengths and limitations–, and provide a safe environment where participants can disseminate their research in clear and engaging terms, rather than technical, to foster interdisciplinary collaborations.
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| 8. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Robotic Gaze Drives Attention, Even with No Visible Eyes
- 2023
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Ingår i: HRI '23: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction. - New York, NY, USA : ACM / Association for Computing Machinery. - 9781450399708 ; , s. 172-177
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Konferensbidrag (refereegranskat)abstract
- Robots can direct human attention using their eyes. However, it remains unclear whether it is the gaze or the low-level motion of the head rotation that drives attention. We isolated these components in a non-predictive gaze cueing task with a robot to explore how limited robotic signals orient attention. In each trial, the head of a NAO robot turned towards the left or right. To isolate the direction of rotation from its gaze, NAO was presented frontally and backward along blocks. Participants responded faster to targets on the gazed-at site, even when the eyes of the robot were not visible and the direction of rotation was opposed to that of the frontal condition. Our results showed that low-level motion did not orient attention, but the gaze direction of the robot did. These findings suggest that the robotic gaze is perceived as a social signal, similar to human gaze.
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| 9. |
- Morillo-Mendez, Lucas, 1991-
(författare)
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SOCIAL ROBOTS / SOCIAL COGNITION : Robots' Gaze Effects in Older and Younger Adults
- 2023
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This dissertation presents advances in social human-robot interaction (HRI) and human social cognition through a series of experiments in which humans face a robot. A predominant approach to studying the human factor in HRI consists of placing the human in the role of a user to explore potential factors affecting the acceptance or usability of a robot. This work takes a broader perspective and investigates if social robots are perceived as social agents, irrespective of their final role or usefulness in a particular interaction. To do so, it adopts methodologies and theories from cognitive and experimental psychology, such as the use of behavioral paradigms involving gaze following and a framework of more than twenty years of research employing gaze to explore social cognition. The communicative role of gaze in robots is used to explore their essential effectiveness and as a tool to learn how humans perceive them. Studying how certain social robots are perceived through the lens of research in social cognition is the central contribution of this dissertation.This thesis presents empirical research and the multidisciplinary literature on (robotic) gaze following, aging, and their relation with social cognition. Papers I and II investigate the decline in gaze following associated with aging, linked with a broader decline in social cognition, in scenarios with robots as gazing agents. In addition to the participants' self-reported perception of the robots, their reaction times were also measured to reflect their internal cognitive processes. Overall, this decline seems to persist when the gazing Overall, this decline seems to persist when the gazing agent is a robot, highlighting our depiction of robots as social agents. Paper IV explores the theories behind this decline using a robot, emphasizing how these theories extend to non-human agents. This work also investigates motion as a competing cue to gaze in social robots (Paper III), and mentalizing in robotic gaze following (Paper V).Through experiments with participants and within the scope of HRI and social cognition studies, this thesis presents a joint framework highlighting that robots are depicted as social agents. This finding emphasizes the importance of fundamental insights from social cognition when designing robot behaviors. Additionally, it promotes and supports the use of robots as valuable tools to explore the robustness of current theories in cognitive psychology to expand the field in parallel.
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| 10. |
- Morillo-Mendez, Lucas, 1991-, et al.
(författare)
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Towards human-based models of behaviour in social robots : Exploring age-related differences in the processing of gaze cues in human-robot interaction
- 2020
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Ingår i: Proceedings of the 9th European Starting AI Researchers' Symposium 2020 co-located with 24th European Conference on Artificial Intelligence (ECAI 2020). - : Technical University of Aachen.
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Konferensbidrag (refereegranskat)abstract
- The emergence of robotic systems offers many opportunities for olderadults (OA) to support their daily life activities. Therefore, there is aneed to study social interactions between OA and robots better. Oneimportant aspect of social communication is the use of non-verbal cues,of which eye gaze has proven to be of special interest both in the fieldsof social cognition and HRI. In this paper, we review previous work onHRI with OA and propose an experiment to compare the influence ofgaze behaviour of robots on older and younger users. These findingswill allow a better design and adaptation of social robots to age-relatedchanges in aspects of social cognition.
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