2,286 research outputs found
Knowledge Representation for Robots through Human-Robot Interaction
The representation of the knowledge needed by a robot to perform complex
tasks is restricted by the limitations of perception. One possible way of
overcoming this situation and designing "knowledgeable" robots is to rely on
the interaction with the user. We propose a multi-modal interaction framework
that allows to effectively acquire knowledge about the environment where the
robot operates. In particular, in this paper we present a rich representation
framework that can be automatically built from the metric map annotated with
the indications provided by the user. Such a representation, allows then the
robot to ground complex referential expressions for motion commands and to
devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP
201
A discriminative approach to grounded spoken language understanding in interactive robotics
Spoken Language Understanding in Interactive Robotics provides computational models of human-machine communication based on the vocal input. However, robots operate in specific environments and the correct interpretation of the spoken sentences depends on the physical, cognitive and linguistic aspects triggered by the operational environment. Grounded language processing should exploit both the physical constraints of the context as well as knowledge assumptions of the robot. These include the subjective perception of the environment that explicitly affects linguistic reasoning. In this work, a standard linguistic pipeline for semantic parsing is extended toward a form of perceptually informed natural language processing that combines discriminative learning and distributional semantics. Empirical results achieve up to a 40% of relative error reduction
Interactive semantic mapping: Experimental evaluation
Robots that are launched in the consumer market need to provide more effective human robot interaction, and, in particular, spoken language interfaces. However, in order to support the execution of high level commands as they are specified in natural language, a semantic map is required. Such a map is a representation that enables the robot to ground the commands into the actual places and objects located in the environment. In this paper, we present the experimental evaluation of a system specifically designed to build semantically rich maps, through the interaction with the user. The results of the experiments not only provide the basis for a discussion of the features of the proposed approach, but also highlight the manifold issues that arise in the evaluation of semantic mapping
Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence
In the field of robotics, robot teleoperation for remote or hazardous
environments has become increasingly vital. A major challenge is the lag
between command and action, negatively affecting operator awareness,
performance, and mental strain. Even with advanced technology, mitigating these
delays, especially in long-distance operations, remains challenging. Current
solutions largely focus on machine-based adjustments. Yet, there's a gap in
using human perceptions to improve the teleoperation experience. This paper
presents a unique method of sensory manipulation to help humans adapt to such
delays. Drawing from motor learning principles, it suggests that modifying
sensory stimuli can lessen the perception of these delays. Instead of
introducing new skills, the approach uses existing motor coordination
knowledge. The aim is to minimize the need for extensive training or complex
automation. A study with 41 participants explored the effects of altered haptic
cues in delayed teleoperations. These cues were sourced from advanced physics
engines and robot sensors. Results highlighted benefits like reduced task time
and improved perceptions of visual delays. Real-time haptic feedback
significantly contributed to reduced mental strain and increased confidence.
This research emphasizes human adaptation as a key element in robot
teleoperation, advocating for improved teleoperation efficiency via swift human
adaptation, rather than solely optimizing robots for delay adjustment.Comment: Submitted to Scientific Report
Introduction: The Third International Conference on Epigenetic Robotics
This paper summarizes the paper and poster contributions
to the Third International Workshop on
Epigenetic Robotics. The focus of this workshop is
on the cross-disciplinary interaction of developmental
psychology and robotics. Namely, the general
goal in this area is to create robotic models of the
psychological development of various behaviors. The
term "epigenetic" is used in much the same sense as
the term "developmental" and while we could call
our topic "developmental robotics", developmental
robotics can be seen as having a broader interdisciplinary
emphasis. Our focus in this workshop is
on the interaction of developmental psychology and
robotics and we use the phrase "epigenetic robotics"
to capture this focus
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