Facilitating Intention Prediction for Humans by Optimizing Robot Motions

International audienceMembers of a team are able to coordinate their actions by anticipating the intentions of others. Achieving such implicit coordination between humans and robots requires humans to be able to quickly and robustly predict the robot's intentions, i.e. the robot should demonstrate a behavior that is legible. Whereas previous work has sought to explicitly optimize the legibility of behavior, we investigate legibility as a property that arises automatically from general requirements on the efficiency and robustness of joint human-robot task completion. We do so by optimizing fast and successful completion of joint human-robot tasks through policy improvement with stochastic optimization. Two experiments with human subjects show that robots are able to adapt their behavior so that humans become better at predicting the robot's intentions early on, which leads to faster and more robust overall task completion

Learning Legible Motion from Human–Robot Interactions

International audienceIn collaborative tasks, displaying legible behavior enables other members of the team to anticipate intentions and to thus coordinate their actions accordingly. Behavior is therefore considered to be legible when an observer is able to quickly and correctly infer the intention of the agent generating the behavior. In previous work, legible robot behavior has been generated by using model-based methods to optimize task-specific models of legibility. In our work, we rather use model-free reinforcement learning with a generic, task-independent cost function. In the context of experiments involving a joint task between (thirty) human subjects and a humanoid robot, we show that: 1) legible behavior arises when rewarding the efficiency of joint task completion during human-robot interactions 2) behavior that has been optimized for one subject is also more legible for other subjects 3) the universal legibility of behavior is influenced by the choice of the policy representation. Fig. 1 Illustration of the button pressing experiment, where the robot reaches for and presses a button. The human subject predicts which button the robot will push, and is instructed to quickly press a button of the same color when sufficiently confident about this prediction. By rewarding the robot for fast and successful joint completion of the task, which indirectly rewards how quickly the human recognizes the robot's intention and thus how quickly the human can start the complementary action, the robot learns to perform more legible motion. The three example trajectories illustrate the concept of legible behavior: it enables correct prediction of the intention early on in the trajectory

Foundations of Human-Aware Planning -- A Tale of Three Models

abstract: A critical challenge in the design of AI systems that operate with humans in the loop is to be able to model the intentions and capabilities of the humans, as well as their beliefs and expectations of the AI system itself. This allows the AI system to be "human- aware" -- i.e. the human task model enables it to envisage desired roles of the human in joint action, while the human mental model allows it to anticipate how its own actions are perceived from the point of view of the human. In my research, I explore how these concepts of human-awareness manifest themselves in the scope of planning or sequential decision making with humans in the loop. To this end, I will show (1) how the AI agent can leverage the human task model to generate symbiotic behavior; and (2) how the introduction of the human mental model in the deliberative process of the AI agent allows it to generate explanations for a plan or resort to explicable plans when explanations are not desired. The latter is in addition to traditional notions of human-aware planning which typically use the human task model alone and thus enables a new suite of capabilities of a human-aware AI agent. Finally, I will explore how the AI agent can leverage emerging mixed-reality interfaces to realize effective channels of communication with the human in the loop.Dissertation/ThesisDoctoral Dissertation Computer Science 201

Material Literacy: Alphabets, Bodies, and Consumer Culture

This dissertation posits that a new form of material literacy emerged in the United States between 1890 and 1925, in tandem with the modern advertising profession. A nation recalibrating the way it valued economic and cultural mass consumption demanded, among other things, new signage – new ways to announce, and through those announcements, to produce its commitment to consumer society. What I call material literacy emerged as a set of interpretive skills wielded by both the creators and audiences of advertising material, whose paths crossed via representations of goods. These historically situated ways of reading and writing not only invited Americans to interpret a world full of representations of products, but also to understand – to read – themselves within that context. Commercial texts became sites for posing questions about reading behavior more generally, and they connected members of various professions who stood to benefit from that knowledge. In this dissertation, I explore how reading and consumption converged for advertising experts, printers, typographers, and experimental psychologists. Despite their different occupational vantage points, their work intersected around efforts to understand how modern Americans decoded printed texts, and how this behavior might be known and guided. To establish their professional reputations, the authors I study positioned themselves as being uniquely capable of observing and interpreting the behavior of readers. The body served as a key site, and metaphor, for their inquiries – a means of making both literacy and legibility material

Data’s Intimacy: Machinic Sensibility and the Quantified Self

Today, machines observe, record, sense the world – not just for us, but sometimes instead of us (in our stead), and even indifferently to us humans. And yet, we remain human. Correlationism may not be up to a comprehensive ontology, but the ways in which we encounter, and struggle to make some kind of sense of, machinic sensibility matters. The nature of that encounter is not instrumentality, or even McLuhanian extension, but a full-blown ‘relationship’ where the terms by which machines ‘experience’ the world, and communicate with each other, parametrises the conditions for our own experience. This essay will play out one such relationship currently in the making: the boom in self-tracking technologies, and the attendant promise of data’s intimacy. This essay proceeds in three sections, all of which draw on a larger research project into self-tracking and contemporary data epistemologies. It thus leverages observations from close reading of self-tracking’s publicisation in the mass media between 2007 and 2016; analysis of over fifty self-tracking products, some of it through self-experimentation; and interviews and ethnographic observation, primarily of the ‘Quantified Self’ connoisseur community. The first section examines the dominant public presentations of self-tracking in early twenty-first century discourse. This discourse embraces a vision of automated and intimate self-surveillance, which is then promised to deliver superior control and objective knowledge over the self. Next, I link these promises to the recent theoretical turns towards the agency of objects and the autonomous sensory capacities of new media to consider the implications of such theories – and the technological shifts they address – for the phenomenology of the new media subject. Finally, I return to self-tracking discourse to consider its own idealisation of such a subject – what I call ‘data-sense’. I conclude by calling for a more explicit public and intellectual debate around the relationships we forge with new technologies, and the consequences they have for who – and what – is given which kinds of authority to speak the truth of the ‘self’

FinBook: literary content as digital commodity

This short essay explains the significance of the FinBook intervention, and invites the reader to participate. We have associated each chapter within this book with a financial robot (FinBot), and created a market whereby book content will be traded with financial securities. As human labour increasingly consists of unstable and uncertain work practices and as algorithms replace people on the virtual trading floors of the worlds markets, we see members of society taking advantage of FinBots to invest and make extra funds. Bots of all kinds are making financial decisions for us, searching online on our behalf to help us invest, to consume products and services. Our contribution to this compilation is to turn the collection of chapters in this book into a dynamic investment portfolio, and thereby play out what might happen to the process of buying and consuming literature in the not-so-distant future. By attaching identities (through QR codes) to each chapter, we create a market in which the chapter can ‘perform’. Our FinBots will trade based on features extracted from the authors’ words in this book: the political, ethical and cultural values embedded in the work, and the extent to which the FinBots share authors’ concerns; and the performance of chapters amongst those human and non-human actors that make up the market, and readership. In short, the FinBook model turns our work and the work of our co-authors into an investment portfolio, mediated by the market and the attention of readers. By creating a digital economy specifically around the content of online texts, our chapter and the FinBook platform aims to challenge the reader to consider how their personal values align them with individual articles, and how these become contested as they perform different value judgements about the financial performance of each chapter and the book as a whole. At the same time, by introducing ‘autonomous’ trading bots, we also explore the different ‘network’ affordances that differ between paper based books that’s scarcity is developed through analogue form, and digital forms of books whose uniqueness is reached through encryption. We thereby speak to wider questions about the conditions of an aggressive market in which algorithms subject cultural and intellectual items – books – to economic parameters, and the increasing ubiquity of data bots as actors in our social, political, economic and cultural lives. We understand that our marketization of literature may be an uncomfortable juxtaposition against the conventionally-imagined way a book is created, enjoyed and shared: it is intended to be

Virtuoso Beasts: Modernist Fables and the Vitality of Style

This dissertation examines the pivotal function of animals in modernist writing, particularly where modernist style confronts inherited moral codes. Classic accounts of modernism emphasize â??impersonalityâ?? as the prime method for artists seeking cultural and ethical authority in the period after 1880. This project digs into what I argue is ultimately the more palatable capacity of literary beasts to animate a similar poetics of authority. Where doctrines of impersonality often resorted to figures of the inorganic in order to simultaneously disavow and indulge the expression of authorial intention, modernists such as Gerard Manley Hopkins, Virginia Woolf, James Joyce, Rudyard Kipling, and Marianne Moore instead avowed their didactic ambitions by appealing not to traditional expressive and explicit methods nor, on the other hand, to the complete evacuation of personality, but to the vitality and instinct of animals. More than any platinum filament (T.S. Eliotâ??s famous catalyst), animals offered modernists a vocabulary for the bodily and behavioral mechanisms by which individuals become ethical and historical subjects. In my chapters, I examine specific formal effects that require animal energyâ??from the modeling of queer poetic virtuosities upon animal instinct (as in Hopkinsâ?? windhover, for example, or Mooreâ??s slapstick critters) and the casting of fictional characters along evolutionary-typological lines (as in Woolfâ??s The Waves) to the anticolonial implementation, even, of a â??bestialâ?? prose style resistant to modernismâ??s self-authorization (exemplified by the indifferent creatures we find in Finnegans Wake)