20,769 research outputs found

    Anticipation in Human-Robot Cooperation: A Recurrent Neural Network Approach for Multiple Action Sequences Prediction

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    Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues. Recent approaches based on neural networks have led to encouraging results in the human action prediction problem both in continuous and discrete spaces. Our approach extends the research in this direction. Our contributions are three-fold. First, we validate the use of gaze and body pose cues as a means of predicting human action through a feature selection method. Next, we address two shortcomings of existing literature: predicting multiple and variable-length action sequences. This is achieved by introducing an encoder-decoder recurrent neural network topology in the discrete action prediction problem. In addition, we theoretically demonstrate the importance of predicting multiple action sequences as a means of estimating the stochastic reward in a human robot cooperation scenario. Finally, we show the ability to effectively train the prediction model on a action prediction dataset, involving human motion data, and explore the influence of the model's parameters on its performance. Source code repository: https://github.com/pschydlo/ActionAnticipationComment: IEEE International Conference on Robotics and Automation (ICRA) 2018, Accepte

    On inferring intentions in shared tasks for industrial collaborative robots

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    Inferring human operators' actions in shared collaborative tasks, plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and robots not only should share space but also forces and the execution of a task. In this article, we present a robotic system which is able to identify different human's intentions and to adapt its behavior consequently, only by means of force data. In order to accomplish this aim, three major contributions are presented: (a) force-based operator's intent recognition, (b) force-based dataset of physical human-robot interaction and (c) validation of the whole system in a scenario inspired by a realistic industrial application. This work is an important step towards a more natural and user-friendly manner of physical human-robot interaction in scenarios where humans and robots collaborate in the accomplishment of a task.Peer ReviewedPostprint (published version

    Learning to predict closed questions on stack overflow

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    The paper deals with the problem of predicting whether the user’s question will be closed by the moderator on Stack Overflow, a popular question answering service devoted to software programming. The task along with data and evaluation metrics was offered as an open machine learning competition on Kaggle platform. To solve this problem, we employed a wide range of classification features related to users, their interactions, and post content. Classification was carried out using several machine learning methods. According to the results of the experiment, the most important features are characteristics of the user and topical features of the question. The best results were obtained using Vowpal Wabbit – an implementation of online learning based on stochastic gradient descent. Our results are among the best ones in overall ranking, although they were obtained after the official competition was over
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