Human-Robot Interaction Elective in Artificial Intelligence - - PDF document

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Human-Robot Interaction Elective in Artificial Intelligence - - PDF document

Human-Robot Interaction Elective in Artificial Intelligence Lecture 1 - Introduction Luca Iocchi DIAG, Sapienza University of Rome, Italy Readings [Goodrich&Schultz 2007] M. A. Goodrich and A. C. Schultz. Human-Robot Interaction: A


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Human-Robot Interaction

Elective in Artificial Intelligence Lecture 1 - Introduction

Luca Iocchi DIAG, Sapienza University of Rome, Italy

[Goodrich&Schultz 2007]

  • M. A. Goodrich and A. C. Schultz.

Human-Robot Interaction: A Survey. Foundations and Trends in Human-Computer Interaction, 1(3), 2007, pp. 203-275. https://faculty.cs.byu.edu/~mike/mikeg/papers/HRISurvey.pdf [Fong et al. 2003] A Survey of Socially Interactive Robots. Robotics and Autonomous Systems, 42, 2003, pp. 143-166. http://www.cs.cmu.edu/~illah/PAPERS/socialroboticssurvey.pdf

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Readings

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  • What is HRI
  • History
  • Design features
  • Applications
  • Benchmarking
  • Social Robots
  • RoboCup@Home
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Outline

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What is HRI ?

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  • Interaction: the process of working together to

accomplish a goal

  • HRI: “Understand and shape the interactions between
  • ne or more humans and one or more robots”

[Goodrich&Schultz 2007]

  • Analysis, design, modeling, implementation and

evaluation of robots used in applications involving humans Have you been involved in a human-robot interaction task?

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What is HRI ?

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What is HRI ?

  • Remote interaction: humans and robots

are separated spatially or temporally

  • Proximate interaction: humans and robots

share the same physical space

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  • Increased interest in applications involving HRI

(natural interactions with non-expert users).

  • Deployment of robots in public spaces (houses, offices,

schools, roads, hotels, airports, shopping malls, hospitals, …)

  • Social robotics/social intelligence.
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Motivation for HRI

  • Engineering (mechanical, electrical, …)
  • Computer science (artificial intelligence, robotics,

human-computer interaction, natural language understanding, computer vision, …)

  • Design (product design, interaction design, …)
  • Social sciences (psychology, cognitive science,

communications, human factors, …)

  • Humanities (ethics, philosophy, …)
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Multi-disciplinary HRI

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  • Automata and mechanical creatures in ancient Egypt, Greece,

and China

  • Golem – artificial beings
  • 1495 Leonardo’s Mechanical man
  • 1800 Radio controlled machines (e.g., Tesla’s boat)
  • 1920 Karel Chapek’s play Rossum’s Universal Robots
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History

  • 1969 – Shakey project
  • 1992 – First IEEE International

Symposium on Robot & Human Interactive Communication (RoMan)

  • 1999 IEEE RAS TC on Human-

Robot Interaction & Coordination

  • 2006 ACM International Conference
  • n Human-Robot Interaction
  • 2006 RoboCup@Home
  • 2009 Intern. Conf. on Social Robotics
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History

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[Goodrich&Schultz 2007]

  • Autonomy
  • Information Exchange (Communication media and

format)

  • Teams (human-robot teams)
  • Adaptation, Learning, and Training
  • Task-Shaping
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Design features

  • 1. R offers no assistance; human does it all.
  • 2. R offers a complete set of action alternatives.
  • 3. R narrows the selection down to a few choices.
  • 4. R suggests a single action.
  • 5. R executes that action if human approves.
  • 6. R allows the human limited time to veto before automatic execution.
  • 7. R executes automatically then necessarily informs the human.
  • 8. R informs human after automatic execution only if human asks.
  • 9. R informs human after automatic execution only if it decides too.
  • 10. R decides everything and acts autonomously, ignoring the human.

[Sheridan, Verplank, 1978]

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Autonomy

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  • Full-Autonomy (level 10)
  • no human in the loop / no HRI
  • Direct Tele-operation (levels 1-3)
  • high workload / not scalable / for expert users
  • High-level interaction (levels 4-9)
  • Multi-modal communications
  • Partial autonomy
  • Suitable for non-expert users
  • Adjustable autonomy (levels 4-9)
  • Autonomy levels change and adapt during operation
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Autonomy and HRI

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Autonomy in soccer robots

Full tele-operation vs. full autonomy

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Autonomy in soccer robots

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Information Exchange

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How information is exchanged

  • Communication media
  • Vision (visual displays, gestures, body movements)
  • Audio (speech, natural language)
  • Touch (physical contacts, haptics)
  • Multi-modal (integrating many modalities)
  • Communication format
  • Scripts/Formal languages
  • Full natural language
  • Subset of natural language
  • Social behaviors/interactions
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Information Exchange

Measures of efficiency

  • Interaction time
  • Cognitive workload
  • Situation awareness
  • Shared understanding
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Information Exchange

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Vision Processing

  • Face detection / tracking / recognition (including expressions)
  • Person detection / tracking / recognition
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Vision Processing

  • Virtual faces
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Audio Processing

  • Speech recognition / synthesis
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Physical interaction

  • Physical human-robot interaction (pHRI)
  • Wearable robots
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Human-Robot Teams

HRI = multi-agent system (at least one robot and one person) Organization of the team

  • Who takes decisions?
  • Human (user or designer)
  • Robot
  • Interface software
  • Which levels of robot commands/instructions are used
  • strategic
  • tactical
  • operational
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Human-Robot Teams

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  • Conflict resolution
  • Role definition
  • robot peer
  • robot assistant
  • robot slave
  • Role assignment
  • static
  • dynamic (changes in responsibilities, authorities, roles)
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Human-Robot Teams

  • Multi-agent coordination
  • Centralized
  • Distributed
  • Coordination protocol
  • Coordination with other software agents
  • Joint intentions and joint actions
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Human-Robot Teams

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  • Robot Adaptation, Learning, and Training
  • Human Adaptation, Learning, and Training
  • Mutual adaptation for long-term interactions
  • Learning method
  • Supervised
  • Semi-supervised
  • Reinforcement
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Adaptation, Learning, Training

  • How the task should be performed
  • Robots help users to perform a certain task =>

The way in which the task is performed changes.

  • Analysis and design of HRI task execution
  • Different from Human-Human Interaction (HHI)
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Task Shaping

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(Ordered by decreasing requirements for social skills)

  • Home companion
  • Assistive / health-care / elderly-care / rehabilitation
  • Edutainment
  • Tour guide, office assistant
  • Agriculture, cleaning
  • Industrial partners
  • Search and rescue, firefighting, surveillance
  • Space
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Application fields

  • Supervisor (monitor and control the overall situation)
  • Operator (operator intervenes in sw when needed)
  • Mechanic (operator intervenes in hw when needed)
  • Peer (high-level interaction about intentions)
  • Bystander (low-level interaction about a subset of actions)
  • Mentor (robot has teaching leadership)
  • Information consumer (human uses information coming

from the robot) [Scholtz et al., 2002]

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Human/Robot roles in HRI

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What to measure?

  • Robot features
  • Safety
  • Scalability wrt complex situations in public environments
  • Single functionalities
  • Social interaction
  • Autonomy
  • Imitation
  • Privacy
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Benchmarking HRI

What to measure?

  • Task-Oriented benchmarks
  • Success
  • Understanding of the domain by the robot
  • Understanding robot abilities (and limitations) by human
  • Assistive evaluation
  • Usability
  • Impact
  • Satisfaction
  • Quality of Live measures
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Benchmarking HRI

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A series of questionnaires to measure the user’s perception

  • f robots. Rates user's impression of the robot about
  • Anthropomorphism
  • Animacy
  • Likeability:
  • Perceived Intelligence
  • Perceived Safety

[Bartneck et al. 2009]

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Godspeed Questionnaire

  • Robotics
  • Autonomous mobile robots
  • Actuated faces / manipulators
  • Artificial Intelligence
  • Knowledge representation
  • Planning
  • Computer Vision
  • Person / face

detection/recognition/tracking

  • Gesture recognition
  • Machine Learning
  • Adaptive behaviors
  • Imitation
  • Natural Language

Processing

  • Speech recognition and

synthesis

  • Dialogues
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Relation to other disciplines

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[Fong et al. 2003]

  • Robots embedded in a society of humans and robots that

are expected to behave by following social norms.

  • Different levels of “sociality” (social skills)
  • Express/recognize emotions
  • Express/recognize personality
  • Towards autonomous robot peers interacting with humans

in a natural way with high degree of flexibility and adaptability.

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Social Robots

  • Biological inspiration
  • Simulate or mimic social behaviors of biological systems
  • Based on theories from natural sciences
  • Nature is the best model for artificial systems
  • Functional design
  • External resembling social intelligence
  • Internal mechanisms not based on science and nature
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Design of Social Robots

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  • Robot morphology must match its intended function
  • Morphology has a high impact in the way humans will

interact with robots

  • Familiarity/acceptance vs. human similarity

(uncanny valley)

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Robot Morphology

  • Uncanny valley
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Robot Morphology

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  • Artificial emotions to
  • facilitate human-robot interactions
  • provide feedback to the user
  • used as a control mechanism
  • Facial expressions
  • Actuated robotic faces
  • 3D rendered virtual faces
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Emotions/facial expressions

  • Robotic faces
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Emotions/facial expressions

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  • Robotic faces
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Emotions/facial expressions

  • Personality traits identifying a single human/robot
  • Robot Personality increases willingness of interacting
  • Recognition of human personality increases effectiveness
  • f interaction
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Personality

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  • HRI challenging and expanding research field for

Artificial Intelligence and Robotics

  • Multi-disciplinary approaches
  • Many applications
  • A lot of work to be done!
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Conclusions

[Bartneck et al. 2009] Bartneck, C., Croft, E., Kulic, D. & Zoghbi, S. (2009). Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots. International Journal of Social Robotics, 1(1) 71-81. | DOI: 10.1007/s12369-008-0001-3 [Scholtz et al., 2002] J. Scholtz, M. Theofanos, and B. Antonishek, Theory and evaluation of human robot interactions, in 36th International Conference on Systems Sciences, Hawaii: IEEE, 2002. [Sheridan, Verplank, 1978] T. B. Sheridan and W. L. Verplank, Human and Computer Control for Under-sea Teleoperators. MIT Man-Machine Systems Laboratory, 1978.

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References