| 1. |
- Billing, Erik, 1981-, et al.
(author)
-
Behavior recognition for learning from demonstration
- 2010
-
In: 2010 IEEE International Conference on Robotics and Automation. - : IEEE. - 9781424450404 - 9781424450381 ; , s. 866-872
-
Conference paper (peer-reviewed)abstract
- Two methods for behavior recognition are presented and evaluated. Both methods are based on the dynamic temporal difference algorithm Predictive Sequence Learning (PSL) which has previously been proposed as a learning algorithm for robot control. One strength of the proposed recognition methods is that the model PSL builds to recognize behaviors is identical to that used for control, implying that the controller (inverse model) and the recognition algorithm (forward model) can be implemented as two aspects of the same model. The two proposed methods, PSLE-Comparison and PSLH-Comparison, are evaluated in a Learning from Demonstration setting, where each algorithm should recognize a known skill in a demonstration performed via teleoperation. PSLH-Comparison produced the smallest recognition error. The results indicate that PSLH-Comparison could be a suitable algorithm for integration in a hierarchical control system consistent with recent models of human perception and motor control.
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| 2. |
- Billing, Erik, 1981-
(author)
-
Cognition Rehearsed : Recognition and Reproduction of Demonstrated Behavior
- 2012
-
Doctoral thesis (other academic/artistic)abstract
- The work presented in this dissertation investigates techniques for robot Learning from Demonstration (LFD). LFD is a well established approach where the robot is to learn from a set of demonstrations. The dissertation focuses on LFD where a human teacher demonstrates a behavior by controlling the robot via teleoperation. After demonstration, the robot should be able to reproduce the demonstrated behavior under varying conditions. In particular, the dissertation investigates techniques where previous behavioral knowledge is used as bias for generalization of demonstrations. The primary contribution of this work is the development and evaluation of a semi-reactive approach to LFD called Predictive Sequence Learning (PSL). PSL has many interesting properties applied as a learning algorithm for robots. Few assumptions are introduced and little task-specific configuration is needed. PSL can be seen as a variable-order Markov model that progressively builds up the ability to predict or simulate future sensory-motor events, given a history of past events. The knowledge base generated during learning can be used to control the robot, such that the demonstrated behavior is reproduced. The same knowledge base can also be used to recognize an on-going behavior by comparing predicted sensor states with actual observations. Behavior recognition is an important part of LFD, both as a way to communicate with the human user and as a technique that allows the robot to use previous knowledge as parts of new, more complex, controllers. In addition to the work on PSL, this dissertation provides a broad discussion on representation, recognition, and learning of robot behavior. LFD-related concepts such as demonstration, repetition, goal, and behavior 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. The evaluation of PSL shows that the algorithm can efficiently learn and reproduce simple behaviors. The algorithm is able to generalize to previously unseen situations while maintaining the reactive properties of the system. As the complexity of the demonstrated behavior increases, knowledge of one part of the behavior sometimes interferes with knowledge of another parts. As a result, different situations with similar sensory-motor interactions are sometimes confused and the robot fails to reproduce the behavior. One way to handle these issues is to introduce a context layer that can support PSL by providing bias for predictions. Parts of the knowledge base that appear to fit the present context are highlighted, while other parts are inhibited. Which context should be active is continually re-evaluated using behavior recognition. This technique takes inspiration from several neurocomputational models that describe parts of the human brain as a hierarchical prediction system. With behavior recognition active, continually selecting the most suitable context for the present situation, the problem of knowledge interference is significantly reduced and the robot can successfully reproduce also more complex behaviors.
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| 3. |
- Billing, Erik, 1981-
(author)
-
Cognition reversed : Robot learning from demonstration
- 2009
-
Licentiate thesis (other academic/artistic)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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| 4. |
- Billing, Erik, 1981-, et al.
(author)
-
Model-free learning from demonstration
- 2010
-
In: ICAART 2010 - Proceedings of the international conference on agents and artificial intelligence. - Portugal : INSTICC. - 9789896740221 ; , s. 62-71
-
Conference paper (peer-reviewed)abstract
- A novel robot learning algorithm called Predictive Sequence Learning (PSL) is presented and evaluated. PSL is a model-free prediction algorithm inspired by the dynamic temporal difference algorithm S-Learning. While S-Learning has previously been applied as a reinforcement learning algorithm for robots, PSL is here applied to a Learning from Demonstration problem. The proposed algorithm is evaluated on four tasks using a Khepera II robot. PSL builds a model from demonstrated data which is used to repeat the demonstrated behavior. After training, PSL can control the robot by continually predicting the next action, based on the sequence of passed sensor and motor events. PSL was able to successfully learn and repeat the first three (elementary) tasks, but it was unable to successfully repeat the fourth (composed) behavior. The results indicate that PSL is suitable for learning problems up to a certain complexity, while higher level coordination is required for learning more complex behaviors.
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| 5. |
- Billing, Erik, 1981-, et al.
(author)
-
Predictive learning from demonstration
- 2011. - 1
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In: Agents and artificial Intelligence. - Berlin : Springer Verlag. - 9783642198892 - 9783642198908 ; , s. 186-200
-
Book chapter (peer-reviewed)abstract
- A model-free learning algorithm called Predictive Sequence Learning (PSL) is presented and evaluated in a robot Learning from Demonstration (LFD) setting. PSL is inspired by several functional models of the brain. It constructs sequences of predictable sensory-motor patterns, without relying on predefined higher-level concepts. The algorithm is demonstrated on a Khepera II robot in four different tasks. During training, PSL generates a hypothesis library from demonstrated data. The library is then used to control the robot by continually predicting the next action, based on the sequence of passed sensor and motor events. In this way, the robot reproduces the demonstrated behavior. PSL is able to successfully learn and repeat three elementary tasks, but is unable to repeat a fourth, composed behavior. The results indicate that PSL is suitable for learning problems up to a certain complexity, while higher level coordination is required for learning more complex behaviors.
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| 6. |
- Billing, Erik, 1981-, et al.
(author)
-
Robot learning from demonstration using predictive sequence learning
- 2012
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In: Robotic systems. - Kanpur, India : IN-TECH. - 9789533079417 ; , s. 235-250
-
Book chapter (peer-reviewed)abstract
- In this chapter, the prediction algorithm Predictive Sequence Learning (PSL) is presented and evaluated in a robot Learning from Demonstration (LFD) setting. PSL generates hypotheses from a sequence of sensory-motor events. Generated hypotheses can be used as a semi-reactive controller for robots. PSL has previously been used as a method for LFD, but suffered from combinatorial explosion when applied to data with many dimensions, such as high dimensional sensor and motor data. A new version of PSL, referred to as Fuzzy Predictive Sequence Learning (FPSL), is presented and evaluated in this chapter. FPSL is implemented as a Fuzzy Logic rule base and works on a continuous state space, in contrast to the discrete state space used in the original design of PSL. The evaluation of FPSL shows a significant performance improvement in comparison to the discrete version of the algorithm. Applied to an LFD task in a simulated apartment environment, the robot is able to learn to navigate to a specific location, starting from an unknown position in the apartment.
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| 7. |
- Billing, Erik, 1981-, et al.
(author)
-
Robot learning from demonstration using predictive sequence learning
- 2011
-
In: Robotic systems. - Kanpur, India : IN-TECH. - 9789533079417 ; , s. 235-250
-
Book chapter (peer-reviewed)abstract
- In this chapter, the prediction algorithm Predictive Sequence Learning (PSL) is presented and evaluated in a robot Learning from Demonstration (LFD) setting. PSL generates hypotheses from a sequence of sensory-motor events. Generated hypotheses can be used as a semi-reactive controller for robots. PSL has previously been used as a method for LFD, but suffered from combinatorial explosion when applied to data with many dimensions, such as high dimensional sensor and motor data. A new version of PSL, referred to as Fuzzy Predictive Sequence Learning (FPSL), is presented and evaluated in this chapter. FPSL is implemented as a Fuzzy Logic rule base and works on a continuous state space, in contrast to the discrete state space used in the original design of PSL. The evaluation of FPSL shows a significant performance improvement in comparison to the discrete version of the algorithm. Applied to an LFD task in a simulated apartment environment, the robot is able to learn to navigate to a specific location, starting from an unknown position in the apartment.
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| 8. |
- Billing, Erik, 1981-, et al.
(author)
-
Simultaneous control and recognition of demonstrated behavior
- 2011
-
Reports (other academic/artistic)abstract
- A method for Learning from Demonstration (LFD) is presented and evaluated on a simulated Robosoft Kompai robot. The presented algorithm, called Predictive Sequence Learning (PSL), builds fuzzy rules describing temporal relations between sensory-motor events recorded while a human operator is tele-operating the robot. The generated rule base can be used to control the robot and to predict expected sensor events in response to executed actions. The rule base can be trained under different contexts, represented as fuzzy sets. In the present work, contexts are used to represent different behaviors. Several behaviors can in this way be stored in the same rule base and partly share information. The context that best matches present circumstances can be identified using the predictive model and the robot can in this way automatically identify the most suitable behavior for precent circumstances. The performance of PSL as a method for LFD is evaluated with, and without, contextual information. The results indicate that PSL without contexts can learn and reproduce simple behaviors. The system also successfully identifies the most suitable context in almost all test cases. The robot's ability to reproduce more complex behaviors, with partly overlapping and conflicting information, significantly increases with the use of contexts. The results support a further development of PSL as a component of a dynamic hierarchical system performing control and predictions on several levels of abstraction.
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| 9. |
- Billing, Erik, 1981-, et al.
(author)
-
Simultaneous recognition and reproduction of demonstrated behavior
- 2015
-
In: Biologically Inspired Cognitive Architectures. - : Elsevier. - 2212-683X. ; 12, s. 43-53
-
Journal article (peer-reviewed)abstract
- Predictions of sensory-motor interactions with the world is often referred to as a key component in cognition. We here demonstrate that prediction of sensory-motor events, i.e., relationships between percepts and actions, is sufficient to learn navigation skills for a robot navigating in an apartment environment. In the evaluated application, the simulated Robosoft Kompai robot learns from human demonstrations. The system builds fuzzy rules describing temporal relations between sensory-motor events recorded while a human operator is tele-operating the robot. With this architecture, referred to as Predictive Sequence Learning (PSL), learned associations can be used to control the robot and to predict expected sensor events in response to executed actions. The predictive component of PSL is used in two ways: 1) to identify which behavior that best matches current context and 2) to decide when to learn, i.e., update the confidence of different sensory-motor associations. Using this approach, knowledge interference due to over-fitting of an increasingly complex world model can be avoided. The system can also automatically estimate the confidence in the currently executed behavior and decide when to switch to an alternate behavior. The performance of PSL as a method for learning from demonstration is evaluated with, and without, contextual information. The results indicate that PSL without contextual information can learn and reproduce simple behaviors, but fails when the behavioral repertoire becomes more diverse. When a contextual layer is added, PSL successfully identifies the most suitable behavior in almost all test cases. The robot's ability to reproduce more complex behaviors, with partly overlapping and conflicting information, significantly increases with the use of contextual information. The results support a further development of PSL as a component of a dynamic hierarchical system performing control and predictions on several levels of abstraction.
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| 10. |
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| 11. |
- Hanson, Lars, et al.
(author)
-
Current Trends in Research and Application of Digital Human Modeling
- 2022
-
In: Proceedings of the 21st Congress of the International Ergonomics Association (IEA 2021). - Cham : Springer. - 9783030746131 - 9783030746148 ; , s. 358-366
-
Conference paper (peer-reviewed)abstract
- The paper reports an investigation conducted during the DHM2020 Symposium regarding current trends in research and application of DHM in academia, software development, and industry. The results show that virtual reality (VR), augmented reality (AR), and digital twin are major current trends. Furthermore, results show that human diversity is considered in DHM using established methods. Results also show a shift from the assessment of static postures to assessment of sequences of actions, combined with a focus mainly on human well-being and only partly on system performance. Motion capture and motion algorithms are alternative technologies introduced to facilitate and improve DHM simulations. Results from the DHM simulations are mainly presented through pictures or animations.
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| 12. |
- Akalin, Neziha, 1988-
(author)
-
Perceived Safety in Social Human-Robot Interaction
- 2022
-
Doctoral thesis (other academic/artistic)abstract
- This compilation thesis contributes to a deeper understanding of perceived safety in human-robot interaction (HRI) with a particular focus on social robots. The current understanding of safety in HRI is mostly limited to physical safety, whereas perceived safety has often been neglected and underestimated. However, safe HRI requires a conceptualization of safety that goes beyond physical safety covering also perceived safety of the users. Within this context, this thesis provides a comprehensive analysis of perceived safety in HRI with social robots, considering a diverse set of human-related and robot-related factors.Two particular challenges for providing perceived safety in HRI are 1) understanding and evaluating human safety perception through direct and indirect measures, and 2) utilizing the measured level of perceived safety for adapting the robot behaviors. The primary contribution of this dissertation is in addressing the first challenge. The thesis investigates perceived safety in HRI by alternating between conducting user studies, literature review, and testing the findings from the literature within user studies.In this thesis, six main factors influencing perceived safety in HRI are lifted: the context of robot use, the user’s comfort, experience and familiarity with robots, trust, sense of control over the interaction, and transparent and predictable robot behaviors. These factors could provide a common understanding of perceived safety and bridge the theoretical gap in the literature. Moreover, this thesis proposes an experimental paradigm to observe and quantify perceived safety using objective and subjective measures. This contributes to bridging the methodological gap in the literature.The six factors are reviewed in HRI literature, and the robot features that affect these factors are organized in a taxonomy. Although this taxonomy focuses on social robots, the identified characteristics are relevant to other types of robots and autonomous systems. In addition to the taxonomy, the thesis provides a set of guidelines for providing perceived safety in social HRI. As a secondary contribution, the thesis presents an overview of reinforcement learning applications in social robotics as a suitable learning mechanism for adapting the robots’ behaviors to mitigate psychological harm.
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| 13. |
- Alenljung, Beatrice, 1971-, et al.
(author)
-
Conveying Emotions by Touch to the Nao Robot : A User Experience Perspective
- 2018
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In: Multimodal Technologies and Interaction. - : MDPI. - 2414-4088. ; 2:4
-
Journal article (peer-reviewed)abstract
- Social robots are expected gradually to be used by more and more people in a widerrange of settings, domestic as well as professional. As a consequence, the features and qualityrequirements on human–robot interaction will increase, comprising possibilities to communicateemotions, establishing a positive user experience, e.g., using touch. In this paper, the focus is ondepicting how humans, as the users of robots, experience tactile emotional communication with theNao Robot, as well as identifying aspects affecting the experience and touch behavior. A qualitativeinvestigation was conducted as part of a larger experiment. The major findings consist of 15 differentaspects that vary along one or more dimensions and how those influence the four dimensions ofuser experience that are present in the study, as well as the different parts of touch behavior ofconveying emotions.
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| 14. |
- Alenljung, Beatrice, et al.
(author)
-
User Experience of Conveying Emotions by Touch
- 2017
-
In: Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). - : IEEE. - 9781538635179 - 9781538635193 - 9781538635186 ; , s. 1240-1247
-
Conference paper (peer-reviewed)abstract
- In the present study, 64 users were asked to convey eight distinct emotion to a humanoid Nao robot via touch, and were then asked to evaluate their experiences of performing that task. Large differences between emotions were revealed. Users perceived conveying of positive/pro-social emotions as significantly easier than negative emotions, with love and disgust as the two extremes. When asked whether they would act differently towards a human, compared to the robot, the users’ replies varied. A content analysis of interviews revealed a generally positive user experience (UX) while interacting with the robot, but users also found the task challenging in several ways. Three major themes with impact on the UX emerged; responsiveness, robustness, and trickiness. The results are discussed in relation to a study of human-human affective tactile interaction, with implications for human-robot interaction (HRI) and design of social and affective robotics in particular.
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| 15. |
- Andreasson, Rebecca, et al.
(author)
-
Affective Touch in Human-Robot Interaction: Conveying Emotion to the Nao Robot
- 2018
-
In: International Journal of Social Robotics. - : Springer Science and Business Media LLC. - 1875-4791 .- 1875-4805. ; 10:4, s. 473-491
-
Journal article (peer-reviewed)abstract
- Affective touch has a fundamental role in human development, social bonding, and for providing emotional support in interpersonal relationships. We present, what is to our knowledge, the first HRI study of tactile conveyance of both positive and negative emotions (affective touch) on the Nao robot, and based on an experimental set-up from a study of human-human tactile communication. In the present work, participants conveyed eight emotions to a small humanoid robot via touch. We found that female participants conveyed emotions for a longer time, using more varied interaction and touching more regions on the robot's body, compared to male participants. Several differences between emotions were found such that emotions could be classified by the valence of the emotion conveyed, by combining touch amount and duration. Overall, these results show high agreement with those reported for human-human affective tactile communication and could also have impact on the design and placement of tactile sensors on humanoid robots.
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| 16. |
- Balkenius, Christian, et al.
(author)
-
Basic Visual Reflexes for a Humanoid Robot
- 2021
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In: Proceedings of the 16'th SweCog Conference. - 1653-2325. - 9789198366785 ; 2021:2, s. 19-21
-
Conference paper (peer-reviewed)
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| 17. |
- Billing, Erik, 1981-, et al.
(author)
-
A formalism for learning from demonstration
- 2010
-
In: Paladyn - Journal of Behavioral Robotics. - : De Gruyter Open. - 2080-9778 .- 2081-4836. ; 1:1, s. 1-13
-
Journal article (peer-reviewed)abstract
- The paper describes and formalizes the concepts and assumptions involved in Learning from Demonstration (LFD), a common learning technique used in robotics. LFD-related concepts like goal, generalization, and repetition are here defined, analyzed, and put into context. Robot behaviors are described in terms of trajectories through information spaces and learning is formulated as mappings between some of these spaces. Finally, behavior primitives are introduced as one example of good bias in learning, dividing the learning process into the three stages of behavior segmentation, behavior recognition, and behavior coordination. The formalism is exemplified through a sequence learning task where a robot equipped with a gripper arm is to move objects to specific areas. The introduced concepts are illustrated with special focus on how bias of various kinds can be used to enable learning from a single demonstration, and how ambiguities in demonstrations can be identified and handled.
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| 18. |
- Billing, Erik, 1981-
(author)
-
A New Look at Habits using Simulation Theory
- 2017
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In: Proceedings of the Digitalisation for a Sustainable Society. - Göteborg, Sweden.
-
Conference paper (peer-reviewed)abstract
- Habits as a form of behavior re-execution without explicit deliberation is discussed in terms of implicit anticipation, to be contrasted with explicit anticipation and mental simulation. Two hypotheses, addressing how habits and mental simulation may be implemented in the brain and to what degree they represent two modes brain function, are formulated. Arguments for and against the two hypotheses are discussed shortly, specifically addressing whether habits and mental simulation represent two distinct functions, or to what degree there may be intermediate forms of habit execution involving partial deliberation. A potential role of habits in memory consolidation is also hypnotized.
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| 19. |
- Billing, Erik, PhD, 1981-, et al.
(author)
-
Automatic Selection of Viewpoint for Digital Human Modelling
- 2020
-
In: DHM2020. - Amsterdam : IOS Press. - 9781643681047 - 9781643681054 ; , s. 61-70
-
Conference paper (peer-reviewed)abstract
- During concept design of new vehicles, work places, and other complex artifacts, it is critical to assess positioning of instruments and regulators from the perspective of the end user. One common way to do these kinds of assessments during early product development is by the use of Digital Human Modelling (DHM). DHM tools are able to produce detailed simulations, including vision. Many of these tools comprise evaluations of direct vision and some tools are also able to assess other perceptual features. However, to our knowledge, all DHM tools available today require manual selection of manikin viewpoint. This can be both cumbersome and difficult, and requires that the DHM user possesses detailed knowledge about visual behavior of the workers in the task being modelled. In the present study, we take the first steps towards an automatic selection of viewpoint through a computational model of eye-hand coordination. We here report descriptive statistics on visual behavior in a pick-and-place task executed in virtual reality. During reaching actions, results reveal a very high degree of eye-gaze towards the target object. Participants look at the target object at least once during basically every trial, even during a repetitive action. The object remains focused during large proportions of the reaching action, even when participants are forced to move in order to reach the object. These results are in line with previous research on eye-hand coordination and suggest that DHM tools should, by default, set the viewpoint to match the manikin’s grasping location.
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| 20. |
- Billing, Erik, 1981-, et al.
(author)
-
Behavior recognition for segmentation of demonstrated tasks
- 2008
-
In: IEEE SMC International Conference on Distributed Human-Machine Systems (DHMS). - 9788001040270
-
Conference paper (peer-reviewed)abstract
- One common approach to the robot learning technique Learning From Demonstration, is to use a set of pre-programmed skills as building blocks for more complex tasks. One important part of this approach is recognition of these skills in a demonstration comprising a stream of sensor and actuator data. In this paper, three novel techniques for behavior recognition are presented and compared. The first technique is function-oriented and compares actions for similar inputs. The second technique is based on auto-associative neural networks and compares reconstruction errors in sensory-motor space. The third technique is based on S-Learning and compares sequences of patterns in sensory-motor space. All three techniques compute an activity level which can be seen as an alternative to a pure classification approach. Performed tests show how the former approach allows a more informative interpretation of a demonstration, by not determining "correct" behaviors but rather a number of alternative interpretations.
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| 21. |
- Billing, Erik, 1981-
(author)
-
Cognitive Perspectives on Robot Behavior
- 2010
-
In: Proceedings of the 2nd International Conference on Agents and Artificial Intelligence. - Portugal : INSTICC. - 9789896740214 ; , s. 373-382, s. 373-382
-
Conference paper (peer-reviewed)abstract
- A growing body of research within the field of intelligent robotics argues for a view of intelligence drastically different from classical artificial intelligence and cognitive science. The holistic and embodied ideas expressed by this research promote the view that intelligence is an emergent phenomenon. Similar perspectives, where numerous interactions within the system lead to emergent properties and cognitive abilities beyond that of the individual parts, can be found within many scientific fields. With the goal of understanding how behavior may be represented in robots, the present review tries to grasp what this notion of emergence really means and compare it with a selection of theories developed for analysis of human cognition, including the extended mind, distributed cognition and situated action. These theories reveal a view of intelligence where common notions of objects, goals, language and reasoning have to be rethought. A view where behavior, as well as the agent as such, is defined by the observer rather than given by their nature. Structures in the environment emerge by interaction rather than recognized. In such a view, the fundamental question is how emergent systems appear and develop, and how they may be controlled.
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| 22. |
- Billing, Erik, et al.
(author)
-
Composer : A prototype multilingual model composition tool
- 2013
-
In: MODPROD2013. - Umeå : Umeå universitet.
-
Conference paper (other academic/artistic)abstract
- Composer - A prototype multilingual model composition toolErik Billing and Martin ServinNovember 10, 2012Facing the task to design, simulate or optimize a complex system itis common to find models and data for the system expressed in differentformats, implemented in different simulation software tools. When a newmodel is developed, a target platform is chosen and existing componentsimplemented with different tools have to be converted. This results inunnecessary work duplication and lead times. The Modelica languageinitiative [2] partially solves this by allowing developers to move modelsbetween different tools following the Modelica standard. Another possi-bility is to exchange models using the Functional Mockup Interface (FMI)standard that allows computer models to be used as components in othersimulations, possibly implemented using other programming languages[1]. With the Modelica and FMI standards entering development, there isneed for an easy-to-use tool that supports design, editing and simulationof such multilingual systems, as well as for retracting system informationfor formulating and solving optimization problems.A prototype solution for a graphical block diagram tool for design, edit-ing, simulation and optimization of multilingual systems has been createdand evaluated for a specific system. The tool is named Composer [3].The block diagram representation should be generic, independent ofmodel implementations, have a standardized format and yet support effi-cient handling of complex data. It is natural to look for solutions amongmodern web technologies, specifically HTML5. The format for represent-ing two dimensional vector graphics in HTML5 is Scalable Vector Graphics(SVG). We combine the SVG format with the FMI standard. In a firststage, we take the XML-based model description of FMI as a form for de-scribing the interface for each component, in a language independent way.Simulation parameters can also be expressed on this form, and integratedas metadata into the SVG image. The prototype, using SVG in conjunction with FMI, is implementedin JavaScript and allow creation and modification of block diagrams directly in the web browser. Generated SVG images are sent to the serverwhere they are translated to program code, allowing the simulation ofthe dynamical system to be executed using selected implementations. Analternative mode is to generate optimization problem from the systemdefinition and model parameters. The simulation/optimization result is returned to the web browser where it is plotted or processed using otherstandard libraries.The fiber production process at SCA Packaging Obbola [4] is used asan example system and modeled using Composer. The system consists oftwo fiber production lines that produce fiber going to a storage tank [5].The paper machine is taking fiber from the tank as needed for production.A lot of power is required during fiber production and the purpose of themodel was to investigate weather electricity costs could be reduced byrescheduling fiber production over the day, in accordance with the electricity spot price. Components are implemented for dynamical simulationusing OpenModelica and for discrete event using Python. The Python implementation supports constraint propagation between components andoptimization over specified variables. Each component is interfaced as aFunctional Mock-up Unit (FMU), allowing components to be connectedand properties specified in language independent way. From the SVGcontaining the high-level system information, both Modelica and Pythoncode is generated and executed on the web server, potentially hosted ina high performance data center. More implementations could be addedwithout modifying the SVG system description.We have shown that it is possible to separate system descriptions onthe block diagram level from implementations and interface between thetwo levels using FMI. In a continuation of this project, we aim to integratethe FMI standard also for co-simulation, such that components implemented in different languages could be used together. One open questionis to what extent FMUs of the same component, but implemented withdifferent tools, will have the same model description. For the SVG-basedsystem description to be useful, the FMI model description must remainthe same, or at least contain a large overlap, for a single component implemented in different languages. This will be further investigated in futurework.References[1] Modelica Association. Functional mock-up interface, http://www.fmi-standard.org, November 2012.[2] Modelica Association. Modelica and the modelica association, http://www.modelica.org, November 2012.[3] Erik Billing and Martin Servin. Composer, http://imuit.cs.umu.se/composer, November 2012. [4] SCA Packaging. Sca packaging obbola, http://www.scapackaging.com, November 2012.[5] Patrik Törmänen and Hussein Jaffal. Reducing electricity cost - case study. Technical report, UMIT Research Lab, Umeå University, 2011.2
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| 23. |
- Billing, Erik, 1981-, et al.
(author)
-
Digital Human Modelling in Action
- 2019
-
In: Proceedings of the 15th SweCog Conference. - Skövde : University of Skövde. - 9789198366754 ; , s. 25-28
-
Conference paper (peer-reviewed)
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| 24. |
- Billing, Erik, 1981-, et al.
(author)
-
Expectations of robot technology in welfare
- 2019
-
Conference paper (peer-reviewed)abstract
- We report findings from a survey on expectations of robot technology in welfare, within the coming 20 years. 34 assistant nurses answered a questionnaire on which tasks, from their daily work, that they believe robots can perform, already today or in the near future. Additionally, the Negative attitudes toward robots scale (NARS) was used to estimate participants' attitudes towards robots in general. Results reveal high expectations of robots, where at least half of the participants answered Already today or Within 10 years to 9 out of 10 investigated tasks. Participants were also fairly positive towards robots, reporting low scores on NARS. The obtained results can be interpreted as a serious over-estimation of what robots will be able to do in the near future, but also large varieties in participants' interpretation of what robots are. We identify challenges in communicating both excitement towards a technology in rapid development and realistic limitations of this technology.
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| 25. |
- Billing, Erik, 1981-, et al.
(author)
-
Finding Your Way from the Bed to the Kitchen: Reenacting and Recombining Sensorimotor Episodes Learned from Human Demonstration
- 2016
-
In: Frontiers in Robotics and Ai. - Lausanne, Switzerland : Frontiers Media SA. - 2296-9144. ; 3
-
Journal article (peer-reviewed)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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| 26. |
- Billing, Erik, 1981-, et al.
(author)
-
Formalising learning from demonstration
- 2008
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Reports (other academic/artistic)abstract
- The paper describes and formalizes the concepts and assumptions involved in Learning from Demonstration (LFD), a common learning technique used in robotics. Inspired by the work on planning and actuation by LaValle, common LFD-related concepts like goal, generalization, and repetition are here defined, analyzed, and put into context. Robot behaviors are described in terms of trajectories through information spaces and learning is formulated as the mappings between some of these spaces. Finally, behavior primitives are introduced as one example of useful bias in the learning process, dividing the learning process into the three stages of behavior segmentation, behavior recognition, and behavior coordination.
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| 27. |
- Billing, Erik, PhD, 1981-, et al.
(author)
-
Language Models for Human-Robot Interaction
- 2023
-
In: HRI '23. - New York, NY, USA : ACM Digital Library. - 9781450399708 ; , s. 905-906
-
Conference paper (peer-reviewed)abstract
- Recent advances in large scale language models have significantly changed the landscape of automatic dialogue systems and chatbots. We believe that these models also have a great potential for changing the way we interact with robots. Here, we present the first integration of the OpenAI GPT-3 language model for the Aldebaran Pepper and Nao robots. The present work transforms the text-based API of GPT-3 into an open verbal dialogue with the robots. The system will be presented live during the HRI2023 conference and the source code of this integration is shared with the hope that it will serve the community in designing and evaluating new dialogue systems for robots.
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| 28. |
- Billing, Erik, 1981-, et al.
(author)
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Modeling the Interplay between Conditioning and Attention in a Humanoid Robot : Habituation and Attentional Blocking
- 2014
-
In: IEEE ICDL-EPIROB 2014. - : IEEE conference proceedings. - 9781479975402 ; , s. 41-47
-
Conference paper (peer-reviewed)abstract
- A novel model of role of conditioning in attention is presented and evaluated on a Nao humanoid robot. The model implements conditioning and habituation in interaction with a dynamic neural field where different stimuli compete for activation. The model can be seen as a demonstration of how stimulus-selection and action-selection can be combined and illustrates how positive or negative reinforcement have different effects on attention and action. Attention is directed toward both rewarding and punishing stimuli, but appetitive actions are only directed toward positive stimuli. We present experiments where the model is used to control a Nao robot in a task where it can select between two objects. The model demonstrates some emergent effects also observed in similar experiments with humans and animals, including attentional blocking and latent inhibition.
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| 29. |
- Billing, Erik, et al.
(author)
-
Modeling the interplay between conditioning and attention in a humanoid robot : habituation and attentional blocking
- 2014
-
In: Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2014 Joint IEEE International Conferences on. ; , s. 41-47
-
Conference paper (peer-reviewed)abstract
- A novel model of role of conditioning in attention is presented and evaluated on a Nao humanoid robot. The model implements conditioning and habituation in interaction with a dynamic neural field where different stimuli compete for activation. The model can be seen as a demonstration of how stimulus-selection and action-selection can be combined and illustrates how positive or negative reinforcement have different effects on attention and action. Attention is directed toward both rewarding and punishing stimuli, but appetitive actions are only directed toward positive stimuli. We present experiments where the model is used to control a Nao robot in a task where it can select between two objects. The model demonstrates some emergent effects also observed in similar experiments with humans and animals, including attentional blocking and latent inhibition.
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| 30. |
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| 31. |
- Billing, Erik, 1981-, et al.
(author)
-
Predictive Learning in Context
- 2010
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In: Proceedings of the tenth international conference on epigenetic robotics. - Lund, Sweden : Lund University. - 9789197738095 ; , s. 157-158
-
Conference paper (peer-reviewed)
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| 32. |
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| 33. |
- Billing, Erik, 1981-
(author)
-
Representing behavior : Distributed theories in a context of robotics
- 2007
-
Reports (other academic/artistic)abstract
- A growing body of research within the field of intelligent robotics argues for a view of intelligence drastically different from classical artificial intelligence and cognitive science. The holistic and embodied ideas expressed by this research sees emergence as the springing source for intelligence. Similar perspectives, where numerous interactions within the system lead to emergent properties and cognitive abilities beyond that of the individual parts, can be found within many scientific fields. With the goal of understanding how behavior may be represented in robots, the present review tries to grasp what this notion of emergence really means and compare it with a selection of theories developed for analysis of human cognition. These theories reveal a view of intelligence where common notions of objects, goals and reasoning have to be rethought. A view where behavior, as well as the agent as such, is in the eye of the observer rather than given. Structures in the environment is achieved by interaction rather than recognized. In such a view, the fundamental question is how emergent systems appear and develop, and how they may be controlled.
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| 34. |
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| 35. |
- Billing, Erik, 1981-, et al.
(author)
-
Simultaneous planning and action: neural-dynamic sequencing of elementary behaviors in robot navigation
- 2015
-
In: Adaptive Behavior. - : SAGE Publications. - 1059-7123 .- 1741-2633. ; 23:5, s. 243-264
-
Journal article (peer-reviewed)abstract
- A technique for simultaneous planning and action based on dynamic field theory is presented. The model builds on previous work on representation of sequential behavior as attractors in dynamic neural fields. Here, we demonstrate how chains of competing attractors can be used to represent dynamic plans towards a goal state. The present work can be seen as an addition to a growing body of work that demonstrates the role of dynamic field theory as a bridge between low-level reactive approaches and high-level symbol processing mechanisms. The architecture is evaluated on a set of planning problems using a simulated e-puck robot, including analysis of the system's behavior in response to noise and temporary blockages of the planned route. The system makes no explicit distinction between planning and execution phases, allowing continuous adaptation of the planned path. The proposed architecture exploits the dynamic field theory property of stability in relation to noise and changes in the environment. The neural dynamics are also exploited such that stay-or-switch action selection emerges where blockage of a planned path occurs; stay until the transient blockage is removed versus switch to an alternative route to the goal.
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| 36. |
- Billing, Erik, PhD, 1981-, et al.
(author)
-
The DREAM Dataset : Supporting a data-driven study of autism spectrum disorder and robot enhanced therapy
- 2020
-
In: PLOS ONE. - : Public Library of Science. - 1932-6203. ; 15:8
-
Journal article (peer-reviewed)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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| 37. |
- Billing, Erik, PhD, 1981-
(author)
-
The DREAM Dataset : Behavioural data from robot enhanced therapies for children with autism spectrum disorder
- 2020
-
Other publicationabstract
- Denna databas omfattar beteendedata från 61 barn diagnostiserade med Autismspektrumtillstånd (AST). Insamlat data kommer från en storskalig studie på autismterapi med stöd av robotar. Databasen omfattar över 3000 sessioner från mer än 300 timmar terapi. Hälften av barnen interagerade med den sociala roboten NAO, övervakad av en terapeut. Den andra hälften, vilka utgjorde kontrollgrupp, interagerade direkt med en terapeut. Båda grupperna följde samma standardprotokoll för kognitiv beteendeterapi, Applied Behavior Analysis (ABA). Varje session spelades in med tre RGB-kameror och två RGBD kameror (Kinect) vilka analyserats med bildbehandlingstekniker för att identifiera barnets beteende under terapin. Den här publika versionen av databasen innehåller inget inspelat videomaterial eller andra personuppgifter, utan omfattar i stället anonymiserat data som beskriver barnets rörelser, huvudets position och orientering, samt ögonrörelser, alla angivna i ett gemensamt koordinatsystem. Vidare inkluderas metadata i form av barnets ålder, kön, och autismdiagnos (ADOS).
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| 38. |
- Cai, Haibin, et al.
(author)
-
Sensing-enhanced Therapy System for Assessing Children with Autism Spectrum Disorders : A Feasibility Study
- 2019
-
In: IEEE Sensors Journal. - : Institute of Electrical and Electronics Engineers (IEEE). - 1530-437X .- 1558-1748. ; 19:4, s. 1508-1518
-
Journal article (peer-reviewed)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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| 39. |
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| 40. |
- Esteban, Pablo G., et al.
(author)
-
How to Build a Supervised Autonomous System for Robot-Enhanced Therapy for Children with Autism Spectrum Disorder
- 2017
-
In: Paladyn - Journal of Behavioral Robotics. - : De Gruyter Open. - 2080-9778 .- 2081-4836. ; 8:1, s. 18-38
-
Journal article (peer-reviewed)abstract
- Robot-Assisted Therapy (RAT) has successfully been used to improve social skills in children with autism spectrum disorders (ASD) through remote control of the robot in so-called Wizard of Oz (WoZ) paradigms.However, there is a need to increase the autonomy of the robot both to lighten the burden on human therapists (who have to remain in control and, importantly, supervise the robot) and to provide a consistent therapeutic experience. This paper seeks to provide insight into increasing the autonomy level of social robots in therapy to move beyond WoZ. With the final aim of improved human-human social interaction for the children, this multidisciplinary research seeks to facilitate the use of social robots as tools in clinical situations by addressing the challenge of increasing robot autonomy.We introduce the clinical framework in which the developments are tested, alongside initial data obtained from patients in a first phase of the project using a WoZ set-up mimicking the targeted supervised-autonomy behaviour. We further describe the implemented system architecture capable of providing the robot with supervised autonomy.
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| 41. |
- Fasth Berglund, Åsa, 1978, et al.
(author)
-
Conceptualizing Embodied Automation to Increase Transfer of Tacit knowledge in the Learning Factory
- 2018
-
In: "Theory, Research and Innovation in Applications". - : IEEE. - 9781538670972 - 9781538670989 ; , s. 358-364, s. 358-364
-
Conference paper (peer-reviewed)abstract
- This paper will discuss how cooperative agent-based systems, deployed with social skills and embodied automation features, can be used to interact with the operators in order to facilitate sharing of tacit knowledge and its later conversion into explicit knowledge. The proposal is to combine social software robots (softbots) with industrial collaborative robots (co-bots) to create a digital apprentice for experienced operators in human- robot collaboration workstations. This is to address the problem within industry that experienced operators have difficulties in explaining how they perform their tasks and later, how to turn this procedural knowledge (knowhow) into instructions to be shared among other operators. By using social softbots and co-bots, as cooperative agents with embodied automation features, we think we can facilitate the ‘externalization’ of procedural knowledge in human-robot interaction(s). This enabled by the capabilities of social cooperative agents with embodied automation features of continuously learning by looking over the shoulder of the operators, and documenting and collaborating with them in a non-intrusive way as they perform their daily tasks.
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| 42. |
- Franklin, Oskar, et al.
(author)
-
Plasma micro-RNA alterations appear late in pancreatic cancer
- 2018
-
In: Annals of Surgery. - 0003-4932 .- 1528-1140. ; 267:4, s. 775-781
-
Journal article (peer-reviewed)abstract
- Objectives: The aim of this research was to study whether plasma microRNAs (miRNA) can be used for early detection of pancreatic cancer (PC) by analyzing prediagnostic plasma samples collected before a PC diagnosis. Background: PC has a poor prognosis due to late presenting symptoms and early metastasis. Circulating miRNAs are altered in PC at diagnosis but have not been evaluated in a prediagnostic setting. Methods: We first performed an initial screen using a panel of 372 miRNAs in a retrospective case-control cohort that included early-stage PC patients and healthy controls. Significantly altered miRNAs at diagnosis were then measured in an early detection case-control cohort wherein plasma samples in the cases are collected before a PC diagnosis. Carbohydrate antigen 19–9 (Ca 19–9) levels were measured in all samples for comparison. Results: Our initial screen, including 23 stage I-II PC cases and 22 controls, revealed 15 candidate miRNAs that were differentially expressed in plasma samples at PC diagnosis. We combined all 15 miRNAs into a multivariate statistical model, which outperformed Ca 19–9 in receiver-operating characteristics analysis. However, none of the candidate miRNAs, individually or in combination, were significantly altered in prediagnostic plasma samples from 67 future PC patients compared with 132 matched controls. In comparison, Ca 19–9 levels were significantly higher in the cases at <5 years before diagnosis. Conclusion: Plasma miRNAs are altered in PC patients at diagnosis, but the candidate miRNAs found in this study appear late in the course of the disease and cannot be used for early detection of the disease.
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| 43. |
- Hernández García, Daniel, et al.
(author)
-
Social Robots in Therapy and Care
- 2019
-
In: Proceedings of the 14th ACM/IEEE International Conference on Human Robot Interaction. - Daegu : IEEE conference proceedings. - 9781538685556 - 9781538685563 - 9781538685549 ; , s. 669-670
-
Conference paper (peer-reviewed)abstract
- The Social Robots in Therapy workshop series aims at advancing research topics related to the use of robots in the contexts of Social Care and Robot-Assisted Therapy (RAT). Robots in social care and therapy have been a long time promise in HRI as they have the opportunity to improve patients life significantly. Multiple challenges have to be addressed for this, such as building platforms that work in proximity with patients, therapists and health-care professionals; understanding user needs; developing adaptive and autonomous robot interactions; and addressing ethical questions regarding the use of robots with a vulnerable population. The full-day workshop follows last year's edition which centered on how social robots can improve health-care interventions, how increasing the degree of autonomy of the robots might affect therapies, and how to overcome the ethical challenges inherent to the use of robot assisted technologies. This 2nd edition of the workshop will be focused on the importance of equipping social robots with socio-emotional intelligence and the ability to perform meaningful and personalized interactions. This workshop aims to bring together researchers and industry experts in the fields of Human-Robot Interaction, Machine Learning and Robots in Health and Social Care. It will be an opportunity for all to share and discuss ideas, strategies and findings to guide the design and development of robot assisted systems for therapy and social care implementations that can provide personalize, natural, engaging and autonomous interactions with patients (and health-care providers).
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| 44. |
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| 45. |
- Krantz, Amandus, et al.
(author)
-
The Crisis of Trust in AI and Autonomous Systems
- 2022
-
In: Proceedings of the 17th SweCog Conference. - 1653-2325. - 9789198366792 ; 2022:1, s. 25-27
-
Conference paper (peer-reviewed)abstract
- The future is robotic. Already we are seeing how society is changing with self-driving cars and robots at hospitals and schools. The huge potential of autonomous systems (AS) is highly discussed. What is not highly discussed, and rarely even acknowledged, is the key role trust plays in realizing these benefits. No common way of defining, testing, or measuring it exists. I argue that this lack of research on trust, both in general but also in human-AS relations, may at best result in sporadic progress and adoption of these systems and may at worst lead to public disillusionment and abandonment, delaying the potentials of AS.
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| 46. |
- Lamb, Maurice, et al.
(author)
-
Eye-Tracking Beyond Peripersonal Space in Virtual Reality : Validation and Best Practices
- 2022
-
In: Frontiers in Virtual Reality. - : Frontiers Media S.A.. - 2673-4192. ; 3
-
Journal article (peer-reviewed)abstract
- Recent developments in commercial virtual reality (VR) hardware with embedded eye-tracking create tremendous opportunities for human subjects researchers. Accessible eye-tracking in VR opens new opportunities for highly controlled experimental setups in which participants can engage novel 3D digital environments. However, because VR embedded eye-tracking differs from the majority of historical eye-tracking research, in both providing for relatively unconstrained movement and stimulus presentation distances, there is a need for greater discussion around methods for implementation and validation of VR based eye-tracking tools. The aim of this paper is to provide a practical introduction to the challenges of, and methods for, 3D gaze-tracking in VR with a focus on best practices for results validation and reporting. Specifically, first, we identify and define challenges and methods for collecting and analyzing 3D eye-tracking data in VR. Then, we introduce a validation pilot study with a focus on factors related to 3D gaze tracking. The pilot study provides both a reference data point for a common commercial hardware/software platform (HTC Vive Pro Eye) and illustrates the proposed methods. One outcome of this study was the observation that accuracy and precision of collected data may depend on stimulus distance, which has consequences for studies where stimuli is presented on varying distances. We also conclude that vergence is a potentially problematic basis for estimating gaze depth in VR and should be used with caution as the field move towards a more established method for 3D eye-tracking.
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| 47. |
- Lamb, Maurice, et al.
(author)
-
Forward and Backward Reaching Inverse Kinematics (FABRIK) solver for DHM : A pilot study
- 2022
-
In: Proceedings of the 7th International Digital Human Modeling Symposium (DHM 2022), August 29–30, 2022, Iowa City, Iowa, USA. - : University of Iowa Press. - 9780984037841 ; , s. 1-11
-
Conference paper (peer-reviewed)abstract
- Posture/motion prediction is the basis of the human motion simulations that make up the core of many digital human modeling (DHM) tools and methods. With the goal of producing realistic postures and motions, a common element of posture/motion prediction methods involves applying some set of constraints to biomechanical models of humans on the positions and orientations of specified body parts. While many formulations of biomechanical constraints may produce valid predictions, they must overcome the challenges posed by the highly redundant nature of human biomechanical systems. DHM researchers and developers typically focus on optimization formulations to facilitate the identification and selection of valid solutions. While these approaches produce optimal behavior according to some, e.g., ergonomic, optimization criteria, these solutions require considerable computational power and appear vastly different from how humans produce motion. In this paper, we take a different approach and consider the Forward and Backward Reaching Inverse Kinematics (FABRIK) solver developed in the context of computer graphics for rigged character animation. This approach identifies postures quickly and efficiently, often requiring a fraction of the computation time involved in optimization-based methods. Critically, the FABRIK solver identifies posture predictions based on a lightweight heuristic approach. Specifically, the solver works in joint position space and identifies solutions according to a minimal joint displacement principle. We apply the FABRIK solver to a seven-degree of freedom human arm model during a reaching task from an initial to an end target location, fixing the shoulder position and providing the end effector (index fingertip) position and orientation from each frame of the motion capture data. In this preliminary study, predicted postures are compared to experimental data from a single human subject. Overall the predicted postures were very near the recorded data, with an average RMSE of 1.67°. Although more validation is necessary, we believe that the FABRIK solver has great potential for producing realistic human posture/motion in real-time, with applications in the area of DHM.
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| 48. |
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| 49. |
- Lindblom, Jessica, 1969-, et al.
(author)
-
Evaluating the User Experience of Human-Robot Interaction
- 2020
-
In: Human-Robot Interaction. - Cham : Springer. - 9783030423063 - 9783030423070 ; , s. 231-256
-
Book chapter (peer-reviewed)abstract
- For social robots, like in all other digitally interactive systems, products, services, and devices, positive user experience (UX) is necessary in order to achieve the intended benefits and societal relevance of human–robot interaction (HRI). The experiences that humans have when interacting with robots have the power to enable, or disable, the robots’ acceptance rate and utilization in society. For a commercial robot product, it is the achieved UX in the natural context when fulfilling its intended purpose that will determine its success. The increased number of socially interactive robots in human environments and their level of participation in everyday activities obviously highlights the importance of systematically evaluating the quality of the interaction from a human-centered perspective. There is also a need for robot developers to acquire knowledge about proper UX evaluation, both in theory and in practice. In this chapter we are asking: What is UX evaluation? Why should UX evaluation be performed? When is it appropriate to conduct a UX evaluation? How could a UX evaluation be carried out? Where could UX evaluation take place? Who should perform the UX evaluation and for whom? The aim is to briefly answer these questions in the context of doing UX evaluation in HRI, highlighting evaluation processes and methods that have methodological validity and reliability as well as practical applicability. We argue that each specific HRI project needs to take the UX perspective into account during the whole development process. We suggest that a more diverse use of methods in HRI will benefit the field, and the future users of social robots will benefit even more.
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| 50. |
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