Human-Machine Communication: Complete Volume. Volume 1

This is the complete volume of HMC Volume 1

Learning to Predict Navigational Patterns from Partial Observations

Human beings cooperatively navigate rule-constrained environments by adhering to mutually known navigational patterns, which may be represented as directional pathways or road lanes. Inferring these navigational patterns from incompletely observed environments is required for intelligent mobile robots operating in unmapped locations. However, algorithmically defining these navigational patterns is nontrivial. This paper presents the first self-supervised learning (SSL) method for learning to infer navigational patterns in real-world environments from partial observations only. We explain how geometric data augmentation, predictive world modeling, and an information-theoretic regularizer enables our model to predict an unbiased local directional soft lane probability (DSLP) field in the limit of infinite data. We demonstrate how to infer global navigational patterns by fitting a maximum likelihood graph to the DSLP field. Experiments show that our SSL model outperforms two SOTA supervised lane graph prediction models on the nuScenes dataset. We propose our SSL method as a scalable and interpretable continual learning paradigm for navigation by perception. Code released upon publication.Comment: Under revie

Interactive sonification exploring emergent behavior applying models for biological information and listening

Sonification is an open-ended design task to construct sound informing a listener of data. Understanding application context is critical for shaping design requirements for data translation into sound. Sonification requires methodology to maintain reproducibility when data sources exhibit non-linear properties of self-organization and emergent behavior. This research formalizes interactive sonification in an extensible model to support reproducibility when data exhibits emergent behavior. In the absence of sonification theory, extensibility demonstrates relevant methods across case studies. The interactive sonification framework foregrounds three factors: reproducible system implementation for generating sonification; interactive mechanisms enhancing a listener's multisensory observations; and reproducible data from models that characterize emergent behavior. Supramodal attention research suggests interactive exploration with auditory feedback can generate context for recognizing irregular patterns and transient dynamics. The sonification framework provides circular causality as a signal pathway for modeling a listener interacting with emergent behavior. The extensible sonification model adopts a data acquisition pathway to formalize functional symmetry across three subsystems: Experimental Data Source, Sound Generation, and Guided Exploration. To differentiate time criticality and dimensionality of emerging dynamics, are applied between subsystems to maintain scale and symmetry of concurrent processes and temporal dynamics. Tuning functions accommodate sonification design strategies that yield order parameter values to render emerging patterns discoverable as well as , to reproduce desired instances for clinical listeners. Case studies are implemented with two computational models, Chua's circuit and Swarm Chemistry social agent simulation, generating data in real-time that exhibits emergent behavior. is introduced as an informal model of a listener's clinical attention to data sonification through multisensory interaction in a context of structured inquiry. Three methods are introduced to assess the proposed sonification framework: Listening Scenario classification, data flow Attunement, and Sonification Design Patterns to classify sound control. Case study implementations are assessed against these methods comparing levels of abstraction between experimental data and sound generation. Outcomes demonstrate the framework performance as a reference model for representing experimental implementations, also for identifying common sonification structures having different experimental implementations, identifying common functions implemented in different subsystems, and comparing impact of affordances across multiple implementations of listening scenarios

Robotic object manipulation via hierarchical and affordance learning

With the rise of computation power and machine learning techniques, a shift of research interest is happening to roboticists. Against this background, this thesis seeks to develop or enhance learning-based grasping and manipulation systems. This thesis first proposes a method, named A2, to improve the sample efficiency of end-to-end deep reinforcement learning algorithms for long horizon, multi-step and sparse reward manipulation. The named A2 comes from the fact that it uses Abstract demonstrations to guide the learning process and Adaptively adjusts exploration according to online performances. Experiments in a series of multi-step grid world tasks and manipulation tasks demonstrate significant performance gains over baselines. Then, this thesis develops a hierarchical reinforcement learning approach towards solving the long-horizon manipulation tasks. Specifically, the proposed universal option framework integrates the knowledge-sharing advantage of goal-conditioned reinforcement learning into hierarchical reinforcement learning. An analysis of the parallel training non-stationarity problem is also conducted, and the A2 method is employed to address the issue. Experiments in a series of continuous multi-step, multi-outcome block stacking tasks demonstrate significant performance gains as well as reductions of memory and repeated computation over baselines. Finally, this thesis studies the interplay between grasp generation and manipulation motion generation, arguing that selecting a good grasp before manipulation is essential for contact-rich manipulation tasks. A theory of general affordances based on the reinforcement learning paradigm is developed and used to represent the relationship between grasp generation and manipulation performances. This leads to the general affordance-aware manipulation framework, which selects task-agnostic grasps for downstream manipulation based on the predicted manipulation performances. Experiments on a series of contact-rich hook separation tasks prove the effectiveness of the proposed framework and showcase significant performance gains by filtering away unsatisfactory grasps

Rethinking Closed-loop Training for Autonomous Driving

Recent advances in high-fidelity simulators have enabled closed-loop training of autonomous driving agents, potentially solving the distribution shift in training v.s. deployment and allowing training to be scaled both safely and cheaply. However, there is a lack of understanding of how to build effective training benchmarks for closed-loop training. In this work, we present the first empirical study which analyzes the effects of different training benchmark designs on the success of learning agents, such as how to design traffic scenarios and scale training environments. Furthermore, we show that many popular RL algorithms cannot achieve satisfactory performance in the context of autonomous driving, as they lack long-term planning and take an extremely long time to train. To address these issues, we propose trajectory value learning (TRAVL), an RL-based driving agent that performs planning with multistep look-ahead and exploits cheaply generated imagined data for efficient learning. Our experiments show that TRAVL can learn much faster and produce safer maneuvers compared to all the baselines. For more information, visit the project website: https://waabi.ai/research/travlComment: ECCV 202

Exploring Natural User Abstractions For Shared Perceptual Manipulator Task Modeling & Recovery

State-of-the-art domestic robot assistants are essentially autonomous mobile manipulators capable of exerting human-scale precision grasps. To maximize utility and economy, non-technical end-users would need to be nearly as efficient as trained roboticists in control and collaboration of manipulation task behaviors. However, it remains a significant challenge given that many WIMP-style tools require superficial proficiency in robotics, 3D graphics, and computer science for rapid task modeling and recovery. But research on robot-centric collaboration has garnered momentum in recent years; robots are now planning in partially observable environments that maintain geometries and semantic maps, presenting opportunities for non-experts to cooperatively control task behavior with autonomous-planning agents exploiting the knowledge. However, as autonomous systems are not immune to errors under perceptual difficulty, a human-in-the-loop is needed to bias autonomous-planning towards recovery conditions that resume the task and avoid similar errors. In this work, we explore interactive techniques allowing non-technical users to model task behaviors and perceive cooperatively with a service robot under robot-centric collaboration. We evaluate stylus and touch modalities that users can intuitively and effectively convey natural abstractions of high-level tasks, semantic revisions, and geometries about the world. Experiments are conducted with \u27pick-and-place\u27 tasks in an ideal \u27Blocks World\u27 environment using a Kinova JACO six degree-of-freedom manipulator. Possibilities for the architecture and interface are demonstrated with the following features; (1) Semantic \u27Object\u27 and \u27Location\u27 grounding that describe function and ambiguous geometries (2) Task specification with an unordered list of goal predicates, and (3) Guiding task recovery with implied scene geometries and trajectory via symmetry cues and configuration space abstraction. Empirical results from four user studies show our interface was much preferred than the control condition, demonstrating high learnability and ease-of-use that enable our non-technical participants to model complex tasks, provide effective recovery assistance, and teleoperative control