| 1. |
- Froese, Tom, et al.
(författare)
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Enactive artificial intelligence : Investigating the systemic organization of life and mind
- 2009
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Ingår i: Artificial Intelligence. - : Elsevier. - 0004-3702 .- 1872-7921. ; 173:3-4, s. 466-500
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Tidskriftsartikel (refereegranskat)abstract
- The embodied and situated approach to artificial intelligence (AI) has matured and become a viable alternative to traditional computationalist approaches with respect to the practical goal of building artificial agents, which can behave in a robust and flexible manner under changing real-world conditions. Nevertheless, some concerns have recently been raised with regard to the sufficiency of current embodied AI for advancing our scientific understanding of intentional agency. While from an engineering or computer science perspective this limitation might not be relevant, it is of course highly relevant for AI researchers striving to build accurate models of natural cognition. We argue that the biological foundations of enactive cognitive science can provide the conceptual tools that are needed to diagnose more clearly the shortcomings of current embodied AI. In particular, taking an enactive perspective points to the need for AI to take seriously the organismic roots of autonomous agency and sense-making. We identify two necessary systemic requirements, namely constitutive autonomy and adaptivity, which lead us to introduce two design principles of enactive AI. It is argued that the development of such enactive AI poses a significant challenge to current methodologies. However, it also provides a promising way of eventually overcoming the current limitations of embodied AI, especially in terms of providing fuller models of natural embodied cognition. Finally, some practical implications and examples of the two design principles of enactive AI are also discussed.
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| 2. |
- Li, Jun
(författare)
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Learning reactive behaviors with constructive neural networks in mobile robotics
- 2006
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis investigates a learning system for acquiring robot behaviors by mapping sensor information directly to motor actions. It addresses the integration of three learning paradigms, namely unsupervised learning (UL), supervised learning (SL), and reinforcement learning (RL). The approach is characterized by the use of constructive artificial neural networks (ANNs). The sensor-motor mappings acquired by the learning system form part of a tight "sense-learn-act" cycle, as opposed to "sense-plan-act", thus allowing the robot to learn concepts within its own sensorimotor experience while avoiding anthropomorphic bias.Novel techniques for robot learning using constructive radial basis function (RBF) networks are introduced. This leads to a self-organizing, incremental and local construction of the sensorimotor space for learning different behaviors with the same basic architecture, thus a great simplification of the engineering design process of the ANN's structure. Integration of the different learning paradigms takes place in a two-layer learning architecture.The lower layer with the UL and SL paradigms is used to quickly construct a controller for the required behavior. The upper layer with the RL paradigm is used for tuning and refining of the controller resulting from the lower layer (or a controller obtained from other prior knowledge) to further improve the robustness and performance of the behavior. Both layers apply constructive RBF networks, taking into account the different requirements of the respective learning paradigms.The learning system is verified by a number of experiments on a real robot. We begin our experiments with the lower layer together with a teaching-by-demonstration approach for acquiring different behaviors. The experimental results show that the lower layer can learn a wide range of robot behaviors, thus demonstrating the task non-specific nature of the architecture. We then demonstrate the necessity of the layered learning architecture for more complex behaviors by a docking behavior requiring precise positioning at a goal location. The results obtained show that learning with only the lower layer can not obtain robust performance and optimal trajectories, while learning with only the upper layer is impractical and even infeasible on the real robot due to the slow learning process of the RL paradigm. With layered learning, however, the upper layer is speeded up by bootstrapping from the learnedcontroller in the lower layer, and a robust and time-optimal controller can be obtained.
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| 3. |
- Aktius, Malin, et al.
(författare)
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A Behavior-Based Model of the Hydra, Phylum Cnidaria
- 2007
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Ingår i: 9th European Conference, ECAL 2007. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783540749127 ; , s. 1024-1033
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Konferensbidrag (refereegranskat)abstract
- Behavior-based artificial systems, e.g. mobile robots, are frequently designed using (various degrees and levels of) biology as inspiration, but rarely modeled based on actual quantitative empirical data. This paper presents a data-driven behavior-based model of a simple biological organism, the hydra. Four constituent behaviors were implemented in a simulated animal, and the overall behavior organization was accomplished using a colony-style architecture (CSA). The results indicate that the CSA, using a priority-based behavioral hierarchy suggested in the literature, can be used to model behavioral properties like latency, activation threshold, habituation, and duration of the individual behaviors of the hydra. Limitations of this behavior-based approach are also discussed.
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| 4. |
- Aktius, Malin, et al.
(författare)
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Kognitiv robotik
- 2012. - 1
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Ingår i: Kognitionsvetenskap. - : Studentlitteratur. - 9789144051666 ; , s. 551-560
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Bokkapitel (refereegranskat)
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| 5. |
- Alenljung, Beatrice, et al.
(författare)
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User Experience in Social Human-Robot Interaction
- 2017
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Ingår i: International Journal of Ambient Computing and Intelligence (IJACI). - : I G I Global. - 1941-6237 .- 1941-6245. ; 8:2, s. 12-31
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Tidskriftsartikel (refereegranskat)abstract
- Socially interactive robots are expected to have an increasing importance in human society. For social robots to provide long-term added value to people’s lives, it is of major importance to stressthe need for positive user experience (UX) of such robots. The human-centered view emphasizes various aspects that emerge in the interaction between humans and robots. However, a positive UX does not appear by itself but has to be designed for and evaluated systematically. In this paper, the focus is on the role and relevance of UX in human-robot interaction (HRI) and four trends concerning the role and relevance of UX related to socially interactive robots are identified, and three challenges related to its evaluation are also presented. It is argued that current research efforts and directions are not sufficient in HRI research, and that future research needs to further address interdisciplinary research in order to achieve long-term success of socially interactive robots.
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| 6. |
- Andler, Sten F., et al.
(författare)
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Information Fusion from Databases, Sensors and Simulations : A Collaborative Research Program
- 2005
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Ingår i: Proceedings. - : IEEE Computer Society. - 0769523064 ; , s. 234-241
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Konferensbidrag (refereegranskat)abstract
- This paper provides an overview of a collaborative research program in information fusion from databases, sensors and simulations. Information fusion entails the combination of data from multiple sources, to generate information that cannot be derived from the individual sources. This area is of strategic importance for industry and defense, as well as public administration areas such as health care, and needs to be pursued as an academic subject. A large number of industrial partners are supporting and participating in the development of the area. The paper describes the program’s general approach and main research areas, with a particular focus on the role of information fusion in systems development
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| 7. |
- Axell, Cecilia, 1965-, et al.
(författare)
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Artificial Intelligence in Contemporary Children’s Culture : A Case Study
- 2022
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Ingår i: PATT 39. - : Memorial University of Newfoundland. - 9780889015050 ; , s. 376-386
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Konferensbidrag (refereegranskat)abstract
- The overall aim of the school subject technology is to develop pupils’ understanding of technological solutions in everyday life. A starting point for this study is that it is important for teachers in technology to have knowledge of pupils’ prior conceptions of the subject content since these can both support and hinder their learning. In a previous study we found that when pupils (age 7) talk about digital technology and programming, they often refer to out-of-school experiences such as films, television programmes and books. Typically, their descriptions include robots with some form of intelligence. Hence, it seems like children’s culture may have an impact on the conceptions they bring to the technology classroom. In light of this, it is vital that technology teachers have knowledge about how robots and artificial intelligence (AI) are portrayed in children’s culture, and how pupils perceive these portrayals. However, knowledge about these aspects of technology in children’s culture is limited.The purpose of this study is to investigate how artifacts with artificial intelligence are portrayed in television programmes and literature aimed at children. This study is the first step in a larger study aiming to examine younger pupils’ conceptions and ideas about artificial intelligence. A novice conception of artificial intelligence can be described as an understanding of what a programmed device may, or may not, “understand” in relation to a human, which includes discerning th edifferences between the artificial and the human mind. Consequently, as a theoretical framework for investigating how artificial intelligence is portrayed in children’s culture, the concepts of Theoryof Mind (ToM) and Theory of Artificial Mind (ToAM), are used. The empirical material presented in this paper, i.e. four children’s books and a popular children’s television programme, was analysed using a qualitative thematic analysis. The results show that the portrayal of AI is ambiguous. The structure and function of the robot has elements of both human and machine, and the view of the human fictional characters of the robot is sometimes that of a machine, sometimes of a human. In addition, the whole empirical material includes portrayals of AI as a threat as well as a saviour. As regards implications, there is a risk that without real-life experiences of robots, the representations children’s books and other media convey can lead to ambivalent feelings towards real robots.
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| 8. |
- Babel, Franziska, et al.
(författare)
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Cars As Social Agents (CarSA): A Perspective Shift in Human-Vehicle Interaction
- 2023
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Ingår i: PROCEEDINGS OF THE 11TH CONFERENCE ON HUMAN-AGENT INTERACTION, HAI 2023. - : ASSOC COMPUTING MACHINERY. - 9798400708244 ; , s. 498-499
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Konferensbidrag (refereegranskat)abstract
- The rapid advancement of autonomous vehicle (AV) technology has opened up new possibilities and challenges in the domain of human-agent interaction. As AVs become increasingly prevalent on our roads, it is crucial to understand how humans perceive and interact with these intelligent systems. This workshop aims to bring together researchers and practitioners to explore the perception of cars as social agents. We explore the shift in user perception and the implications for interactions between autonomous vehicles, human drivers, and vulnerable road users (pedestrians, cyclists, etc.). Additionally, we investigate the communication of goals and intentions between cars and humans, as well as issues related to mixed agency, stakeholder perspectives, in-vehicle avatars, and human-vehicle power dynamics. The workshop aims to uncover the benefits, risks, and design principles associated with this emerging paradigm.
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| 9. |
- Babel, Franziska, et al.
(författare)
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Cyclists' Perception of Automated Shuttle Buses in Shared Spaces
- 2023
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Ingår i: PROCEEDINGS OF THE 11TH CONFERENCE ON HUMAN-AGENT INTERACTION, HAI 2023. - : ASSOC COMPUTING MACHINERY. - 9798400708244 ; , s. 467-469
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Konferensbidrag (refereegranskat)abstract
- As automated shuttle buses gradually become a part of urban traffic solutions, their interactions with vulnerable road users need careful consideration. However, the cyclists' perspectives on autonomous shuttle buses have not been explored extensively. This research addresses this gap by surveying 50 cyclists who regularly encounter automated shuttle buses. The results show that, in general, cyclists exhibit a high level of trust in the safety of the buses. Nevertheless, approximately one-third of the cyclists expressed disapproval as the buses tend to drive on the bicycle lane, leading them to wish for infrastructural solutions to avoid forcing cyclists to divert to pedestrian walkways. Identifying potential conflicts like these is vital for the development of effective and acceptable human-agent interactions in road traffic environments.
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| 10. |
- Babel, Franziska, et al.
(författare)
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The Human Behind the Robot: Rethinking the Low Social Status of Service Robots
- 2024
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Ingår i: ACM/IEEE International Conference on Human-Robot Interaction. - 2167-2148. ; , s. 1-10
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Konferensbidrag (refereegranskat)abstract
- Robots in our society are commonly perceived as subordinate servants with a lower social status than humans. This often leads to humans prioritizing themselves during conflict situations. This becomes problematic when robots start to directly represent humans as proxies if people do not think of the human operator behind them. This could be considered a cognitive bias of human representation in HRI. To explore the extent of this problem, we conducted a user study featuring several conflict situations. Participants granted more priority to the robot when the human representation was visible. This paper explores the societal consequences and emerging inequities such as potentially deprioritizing humans by deprioritizing a robot in certain situations. Possible strategies to address potential negative consequences are discussed on a design level while acknowledging that a societal change in how we perceive and treat robots that represent humans might be necessary.
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| 11. |
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| 12. |
- Billing, Erik, 1981-
(författare)
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Cognition reversed : Robot learning from demonstration
- 2009
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The work presented in this thesis investigates techniques for learning from demonstration (LFD). LFD is a well established approach to robot learning, where a teacher demonstrates a behavior to a robot pupil. This thesis focuses on LFD where a human teacher demonstrates a behavior by controlling the robot via teleoperation. The robot should after demonstration be able to execute the demonstrated behavior under varying conditions. Several views on representation, recognition and learning of robot behavior are presented and discussed from a cognitive and computational perspective. LFD-related concepts such as behavior, goal, demonstration, and repetition are defined and analyzed, with focus on how bias is introduced by the use of behavior primitives. This analysis results in a formalism where LFD is described as transitions between information spaces. Assuming that the behavior recognition problem is partly solved, ways to deal with remaining ambiguities in the interpretation of a demonstration are proposed. A total of five algorithms for behavior recognition are proposed and evaluated, including the dynamic temporal difference algorithm Predictive Sequence Learning (PSL). PSL is model-free in the sense that it makes few assumptions of what is to be learned. One strength of PSL is that it can be used for both robot control and recognition of behavior. While many methods for behavior recognition are concerned with identifying invariants within a set of demonstrations, PSL takes a different approach by using purely predictive measures. This may be one way to reduce the need for bias in learning. PSL is, in its current form, subjected to combinatorial explosion as the input space grows, which makes it necessary to introduce some higher level coordination for learning of complex behaviors in real-world robots. The thesis also gives a broad introduction to computational models of the human brain, where a tight coupling between perception and action plays a central role. With the focus on generation of bias, typical features of existing attempts to explain humans' and other animals' ability to learn are presented and analyzed, from both a neurological and an information theoretic perspective. Based on this analysis, four requirements for implementing general learning ability in robots are proposed. These requirements provide guidance to how a coordinating structure around PSL and similar algorithms should be implemented in a model-free way.
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| 13. |
- Billing, Erik, 1981-, et al.
(författare)
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Finding Your Way from the Bed to the Kitchen: Reenacting and Recombining Sensorimotor Episodes Learned from Human Demonstration
- 2016
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Ingår i: Frontiers in Robotics and Ai. - Lausanne, Switzerland : Frontiers Media SA. - 2296-9144. ; 3
-
Tidskriftsartikel (refereegranskat)abstract
- Several simulation theories have been proposed as an explanation for how humans and other agents internalize an "inner world" that allows them to simulate interactions with the external real world - prospectively and retrospectively. Such internal simulation of interaction with the environment has been argued to be a key mechanism behind mentalizing and planning. In the present work, we study internal simulations in a robot acting in a simulated human environment. A model of sensory-motor interactions with the environment is generated from human demonstrations and tested on a Robosoft Kompai robot. The model is used as a controller for the robot, reproducing the demonstrated behavior. Information from several different demonstrations is mixed, allowing the robot to produce novel paths through the environment, toward a goal specified by top-down contextual information. The robot model is also used in a covert mode, where the execution of actions is inhibited and perceptions are generated by a forward model. As a result, the robot generates an internal simulation of the sensory-motor interactions with the environment. Similar to the overt mode, the model is able to reproduce the demonstrated behavior as internal simulations. When experiences from several demonstrations are combined with a top-down goal signal, the system produces internal simulations of novel paths through the environment. These results can be understood as the robot imagining an "inner world" generated from previous experience, allowing it to try out different possible futures without executing actions overtly. We found that the success rate in terms of reaching the specified goal was higher during internal simulation, compared to overt action. These results are linked to a reduction in prediction errors generated during covert action. Despite the fact that the model is quite successful in terms of generating covert behavior toward specified goals, internal simulations display different temporal distributions compared to their overt counterparts. Links to human cognition and specifically mental imagery are discussed.
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| 14. |
- Billing, Erik, 1981-, et al.
(författare)
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Robot-Enhanced Therapy for Children with Autism
- 2018
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Ingår i: Proceedings of the 14th SweCog Conference. - Skövde : University of Skövde. - 9789198366730 ; , s. 19-22
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Konferensbidrag (refereegranskat)
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| 15. |
- Billing, Erik, PhD, 1981-, et al.
(författare)
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The DREAM Dataset : Supporting a data-driven study of autism spectrum disorder and robot enhanced therapy
- 2020
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Ingår i: PLOS ONE. - : Public Library of Science. - 1932-6203. ; 15:8
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Tidskriftsartikel (refereegranskat)abstract
- We present a dataset of behavioral data recorded from 61 children diagnosed with Autism Spectrum Disorder (ASD). The data was collected during a large-scale evaluation of Robot Enhanced Therapy (RET). The dataset covers over 3000 therapy sessions and more than 300 hours of therapy. Half of the children interacted with the social robot NAO supervised by a therapist. The other half, constituting a control group, interacted directly with a therapist. Both groups followed the Applied Behavior Analysis (ABA) protocol. Each session was recorded with three RGB cameras and two RGBD (Kinect) cameras, providing detailed information of children’s behavior during therapy. This public release of the dataset comprises body motion, head position and orientation, and eye gaze variables, all specified as 3D data in a joint frame of reference. In addition, metadata including participant age, gender, and autism diagnosis (ADOS) variables are included. We release this data with the hope of supporting further data-driven studies towards improved therapy methods as well as a better understanding of ASD in general.
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| 16. |
- Biro, Zoltan, et al.
(författare)
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Evolution of visually-guided approach behaviour in recurrent artificial neural network robot controllers
- 1998
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Analysis of internal structures of embodied and situated agents may provide insights into the mechanisms underlying adaptive behaviour. This paper is concerned with the evolution and analysis of visually-guided approach behaviour in a simulated robotic agent controlled by a recurrent artificial neural network, whose connection weights have been evolved using evolutionary algorithms. Analysis of the evolved behaviours and their network-internal mechanisms reveals a behavioural structure and organization resembling a Brooksian subsumption architecture. The task decomposition, as well as the resulting individual behaviours and their integration, however, are realized as network-internal state space dynamics, evolved in the course of agent-environment interaction, i.e. with a minimum of designer intervention.
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| 17. |
- Bjurling, Oscar, et al.
(författare)
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Drone Swarms in Forest Firefighting : A Local Development Case Study of Multi-Level Human-Swarm Interaction
- 2020
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Ingår i: ACM International Conference Proceeding Series. - New York, NY, USA : Association for Computing Machinery. - 9781450375795
-
Konferensbidrag (refereegranskat)abstract
- Swarms of autonomous and coordinating Unmanned Aerial Vehicles (UAVs) are rapidly being developed to enable simultaneous control of multiple UAVs. In the field of Human-Swarm Interaction (HSI), researchers develop and study swarm algorithms and various means of control and evaluate their cognitive and task performance. There is, however, a lack of research describing how UAV swarms will fit into future real-world domain contexts. To remedy this, this paper describes a case study conducted within the community of firefighters, more precisely two Swedish fire departments that regularly deploy UAVs in fire responses. Based on an initial description of how their UAVs are used in a forest firefighting context, participating UAV operators and unit commanders envisioned a scenario that showed how the swarm and its capabilities could be utilized given the constraints and requirements of a forest firefighting mission. Based on this swarm scenario description we developed a swarm interaction model that describes how the operators' interaction traverses multiple levels ranging from the entire swarm, via subswarms and individual UAVs, to specific sensors and equipment carried by the UAVs. The results suggest that human-in-the-loop simulation studies need to enable interaction across multiple swarm levels as this interaction may exert additional cognitive strain on the human operator.
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| 18. |
- Bjurling, Oscar, et al.
(författare)
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Swarms, teams, or choirs? : Metaphors in multi-UAV systems design
- 2021
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Ingår i: Advances in Human Factors in Robots, Unmanned Systems and Cybersecurity. - Cham : Springer International Publishing. - 9783030799960 - 9783030799977 ; , s. 10-15
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Konferensbidrag (refereegranskat)abstract
- Future Unmanned Aerial Vehicles (UAVs) are projected to fly and operate in swarms. The swarm metaphor makes explicit and implicit mappings regarding system architecture and human interaction to aspects of natural systems, such as bee societies. Compared to the metaphor of a team, swarming agents as individuals are less capable, more expendable, and more limited in terms of communication and coordination. Given their different features and limitations, the two metaphors could be useful in different scenarios. We also discuss a choir metaphor and illustrate how it can give rise to different design concepts. We conclude that designers and engineers should be mindful of the metaphors they use because they influence—and limit—how to think about and design for multi-UAV systems.
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| 19. |
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| 20. |
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| 21. |
- Boström, Henrik, et al.
(författare)
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On the Definition of Information Fusion as a Field of Research
- 2007
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- A more precise definition of the field of information fusion can be of benefit to researchers within the field, who may use uch a definition when motivating their own work and evaluating the contribution of others. Moreover, it can enable researchers and practitioners outside the field to more easily relate their own work to the field and more easily understand the scope of the techniques and methods developed in the field. Previous definitions of information fusion are reviewed from that perspective, including definitions of data and sensor fusion, and their appropriateness as definitions for the entire research field are discussed. Based on strengths and weaknesses of existing definitions, a novel definition is proposed, which is argued to effectively fulfill the requirements that can be put on a definition of information fusion as a field of research.
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| 22. |
- Buason, Gunnar, et al.
(författare)
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Brains, Bodies and Beyond : Competitive Co-Evolution of Robot Controllers, Morphologies and Environments
- 2005
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Ingår i: Genetic Programming and Evolvable Machines. - : Springer. - 1389-2576 .- 1573-7632. ; 6:1, s. 25-51
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a series of simulation experiments that incrementally extend previous work on neural robot controllers in a predator-prey scenario, in particular the work of Floreano and Nolfi, and integrates it with ideas from work on the ‘co-evolution’ of robot morphologies and control systems. The aim of these experiments has been to further systematically investigate the tradeoffs and interdependencies between morphological parameters and behavioral strategies through a series of predator-prey experiments in which increasingly many aspects are subject to self-organization through competitive co-evolution. Motivated by the fact that, despite the emphasis of the interdependence of brain, body and environment in much recent research, the environment has actually received relatively little attention, the last set of experiments lets robots/species actively adapt their environments to their own needs, rather than just adapting themselves to a given environment.
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| 23. |
- Cai, Haibin, et al.
(författare)
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Sensing-enhanced Therapy System for Assessing Children with Autism Spectrum Disorders : A Feasibility Study
- 2019
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Ingår i: IEEE Sensors Journal. - : Institute of Electrical and Electronics Engineers (IEEE). - 1530-437X .- 1558-1748. ; 19:4, s. 1508-1518
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Tidskriftsartikel (refereegranskat)abstract
- It is evident that recently reported robot-assisted therapy systems for assessment of children with autism spectrum disorder (ASD) lack autonomous interaction abilities and require significant human resources. This paper proposes a sensing system that automatically extracts and fuses sensory features such as body motion features, facial expressions, and gaze features, further assessing the children behaviours by mapping them to therapist-specified behavioural classes. Experimental results show that the developed system has a capability of interpreting characteristic data of children with ASD, thus has the potential to increase the autonomy of robots under the supervision of a therapist and enhance the quality of the digital description of children with ASD. The research outcomes pave the way to a feasible machine-assisted system for their behaviour assessment. IEEE
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| 24. |
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| 25. |
- Chersi, Fabian, et al.
(författare)
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Sentence processing : linking language to motor chains
- 2010
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Ingår i: Frontiers in Neurorobotics. - : Frontiers Media S.A.. - 1662-5218. ; 4
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Tidskriftsartikel (refereegranskat)abstract
- A growing body of evidence in cognitive science and neuroscience points towards the existence of a deep interconnection between cognition, perception and action. According to this embodied perspective language is grounded in the sensorimotor system and language understanding is based on a mental simulation process (Jeannerod, 2007; Gallese, 2008; Barsalou, 2009). This means that during action words and sentence comprehension the same perception, action, and emotion mechanisms implied during interaction with objects are recruited. Among the neural underpinnings of this simulation process an important role is played by a sensorimotor matching system known as the mirror neuron system (Rizzolatti and Craighero, 2004). Despite a growing number of studies, the precise dynamics underlying the relation between language and action are not yet well understood. In fact, experimental studies are not always coherent as some report that language processing interferes with action execution while others find facilitation. In this work we present a detailed neural network model capable of reproducing experimentally observed influences of the processing of action-related sentences on the execution of motor sequences. The proposed model is based on three main points. The first is that the processing of action-related sentences causes the resonance of motor and mirror neurons encoding the corresponding actions. The second is that there exists a varying degree of crosstalk between neuronal populations depending on whether they encode the same motor act, the same effector or the same action-goal. The third is the fact that neuronal populations’ internal dynamics, which results from the combination of multiple processes taking place at different time scales, can facilitate or interfere with successive activations of the same or of partially overlapping pools.
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