9,557 research outputs found
Humanoid Theory Grounding
In this paper we consider the importance of using a humanoid physical form for a certain proposed kind of robotics, that of theory grounding. Theory grounding involves grounding the theory skills and knowledge of an embodied artificially intelligent (AI) system by developing theory skills and knowledge from the bottom up. Theory grounding can potentially occur in a variety of domains, and the particular domain considered here is that of language. Language is taken to be another “problem space” in which a system can explore and discover solutions. We argue that because theory grounding necessitates robots experiencing domain information, certain behavioral-form aspects, such as abilities to socially smile, point, follow gaze, and generate manual gestures, are necessary for robots grounding a humanoid theory of language
Robot Mindreading and the Problem of Trust
This paper raises three questions regarding the attribution of beliefs, desires, and intentions to robots. The first one is whether humans in fact engage in robot mindreading. If they do, this raises a second question: does robot mindreading foster trust towards robots? Both of these questions are empirical, and I show that the available evidence is insufficient to answer them. Now, if we assume that the answer to both questions is affirmative, a third and more important question arises: should developers and engineers promote robot mindreading in view of their stated goal of enhancing transparency? My worry here is that by attempting to make robots more mind-readable, they are abandoning the project of understanding automatic decision processes. Features that enhance mind-readability are prone to make the factors that determine automatic decisions even more opaque than they already are. And current strategies to eliminate opacity do not enhance mind-readability. The last part of the paper discusses different ways to analyze this apparent trade-off and suggests that a possible solution must adopt tolerable degrees of opacity that depend on pragmatic factors connected to the level of trust required for the intended uses of the robot
Robot Navigation in Unseen Spaces using an Abstract Map
Human navigation in built environments depends on symbolic spatial
information which has unrealised potential to enhance robot navigation
capabilities. Information sources such as labels, signs, maps, planners, spoken
directions, and navigational gestures communicate a wealth of spatial
information to the navigators of built environments; a wealth of information
that robots typically ignore. We present a robot navigation system that uses
the same symbolic spatial information employed by humans to purposefully
navigate in unseen built environments with a level of performance comparable to
humans. The navigation system uses a novel data structure called the abstract
map to imagine malleable spatial models for unseen spaces from spatial symbols.
Sensorimotor perceptions from a robot are then employed to provide purposeful
navigation to symbolic goal locations in the unseen environment. We show how a
dynamic system can be used to create malleable spatial models for the abstract
map, and provide an open source implementation to encourage future work in the
area of symbolic navigation. Symbolic navigation performance of humans and a
robot is evaluated in a real-world built environment. The paper concludes with
a qualitative analysis of human navigation strategies, providing further
insights into how the symbolic navigation capabilities of robots in unseen
built environments can be improved in the future.Comment: 15 pages, published in IEEE Transactions on Cognitive and
Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see
https://btalb.github.io/abstract_map/ for access to softwar
RoboChain: A Secure Data-Sharing Framework for Human-Robot Interaction
Robots have potential to revolutionize the way we interact with the world
around us. One of their largest potentials is in the domain of mobile health
where they can be used to facilitate clinical interventions. However, to
accomplish this, robots need to have access to our private data in order to
learn from these data and improve their interaction capabilities. Furthermore,
to enhance this learning process, the knowledge sharing among multiple robot
units is the natural step forward. However, to date, there is no
well-established framework which allows for such data sharing while preserving
the privacy of the users (e.g., the hospital patients). To this end, we
introduce RoboChain - the first learning framework for secure, decentralized
and computationally efficient data and model sharing among multiple robot units
installed at multiple sites (e.g., hospitals). RoboChain builds upon and
combines the latest advances in open data access and blockchain technologies,
as well as machine learning. We illustrate this framework using the example of
a clinical intervention conducted in a private network of hospitals.
Specifically, we lay down the system architecture that allows multiple robot
units, conducting the interventions at different hospitals, to perform
efficient learning without compromising the data privacy.Comment: 7 pages, 6 figure
Musical Robots For Children With ASD Using A Client-Server Architecture
Presented at the 22nd International Conference on Auditory Display (ICAD-2016)People with Autistic Spectrum Disorders (ASD) are known to have difficulty recognizing and expressing emotions, which affects their social integration. Leveraging the recent advances in interactive robot and music therapy approaches, and integrating both, we have designed musical robots that can facilitate social and emotional interactions of children with ASD. Robots communicate with children with ASD while detecting their emotional states and physical activities and then, make real-time sonification based on the interaction data. Given that we envision the use of multiple robots with children, we have adopted a client-server architecture. Each robot and sensing device plays a role as a terminal, while the sonification server processes all the data and generates harmonized sonification. After describing our goals for the use of sonification, we detail the system architecture and on-going research scenarios. We believe that the present paper offers a new perspective on the sonification application for assistive technologies
Sympathy Begins with a Smile, Intelligence Begins with a Word: Use of Multimodal Features in Spoken Human-Robot Interaction
Recognition of social signals, from human facial expressions or prosody of
speech, is a popular research topic in human-robot interaction studies. There
is also a long line of research in the spoken dialogue community that
investigates user satisfaction in relation to dialogue characteristics.
However, very little research relates a combination of multimodal social
signals and language features detected during spoken face-to-face human-robot
interaction to the resulting user perception of a robot. In this paper we show
how different emotional facial expressions of human users, in combination with
prosodic characteristics of human speech and features of human-robot dialogue,
correlate with users' impressions of the robot after a conversation. We find
that happiness in the user's recognised facial expression strongly correlates
with likeability of a robot, while dialogue-related features (such as number of
human turns or number of sentences per robot utterance) correlate with
perceiving a robot as intelligent. In addition, we show that facial expression,
emotional features, and prosody are better predictors of human ratings related
to perceived robot likeability and anthropomorphism, while linguistic and
non-linguistic features more often predict perceived robot intelligence and
interpretability. As such, these characteristics may in future be used as an
online reward signal for in-situ Reinforcement Learning based adaptive
human-robot dialogue systems.Comment: Robo-NLP workshop at ACL 2017. 9 pages, 5 figures, 6 table
A Review of Verbal and Non-Verbal Human-Robot Interactive Communication
In this paper, an overview of human-robot interactive communication is
presented, covering verbal as well as non-verbal aspects of human-robot
interaction. Following a historical introduction, and motivation towards fluid
human-robot communication, ten desiderata are proposed, which provide an
organizational axis both of recent as well as of future research on human-robot
communication. Then, the ten desiderata are examined in detail, culminating to
a unifying discussion, and a forward-looking conclusion
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