1,601 research outputs found
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
Machine Learning Meets Advanced Robotic Manipulation
Automated industries lead to high quality production, lower manufacturing
cost and better utilization of human resources. Robotic manipulator arms have
major role in the automation process. However, for complex manipulation tasks,
hard coding efficient and safe trajectories is challenging and time consuming.
Machine learning methods have the potential to learn such controllers based on
expert demonstrations. Despite promising advances, better approaches must be
developed to improve safety, reliability, and efficiency of ML methods in both
training and deployment phases. This survey aims to review cutting edge
technologies and recent trends on ML methods applied to real-world manipulation
tasks. After reviewing the related background on ML, the rest of the paper is
devoted to ML applications in different domains such as industry, healthcare,
agriculture, space, military, and search and rescue. The paper is closed with
important research directions for future works
Explainability in Deep Reinforcement Learning
A large set of the explainable Artificial Intelligence (XAI) literature is
emerging on feature relevance techniques to explain a deep neural network (DNN)
output or explaining models that ingest image source data. However, assessing
how XAI techniques can help understand models beyond classification tasks, e.g.
for reinforcement learning (RL), has not been extensively studied. We review
recent works in the direction to attain Explainable Reinforcement Learning
(XRL), a relatively new subfield of Explainable Artificial Intelligence,
intended to be used in general public applications, with diverse audiences,
requiring ethical, responsible and trustable algorithms. In critical situations
where it is essential to justify and explain the agent's behaviour, better
explainability and interpretability of RL models could help gain scientific
insight on the inner workings of what is still considered a black box. We
evaluate mainly studies directly linking explainability to RL, and split these
into two categories according to the way the explanations are generated:
transparent algorithms and post-hoc explainaility. We also review the most
prominent XAI works from the lenses of how they could potentially enlighten the
further deployment of the latest advances in RL, in the demanding present and
future of everyday problems.Comment: Article accepted at Knowledge-Based System
Explainable AI over the Internet of Things (IoT): Overview, State-of-the-Art and Future Directions
Explainable Artificial Intelligence (XAI) is transforming the field of
Artificial Intelligence (AI) by enhancing the trust of end-users in machines.
As the number of connected devices keeps on growing, the Internet of Things
(IoT) market needs to be trustworthy for the end-users. However, existing
literature still lacks a systematic and comprehensive survey work on the use of
XAI for IoT. To bridge this lacking, in this paper, we address the XAI
frameworks with a focus on their characteristics and support for IoT. We
illustrate the widely-used XAI services for IoT applications, such as security
enhancement, Internet of Medical Things (IoMT), Industrial IoT (IIoT), and
Internet of City Things (IoCT). We also suggest the implementation choice of
XAI models over IoT systems in these applications with appropriate examples and
summarize the key inferences for future works. Moreover, we present the
cutting-edge development in edge XAI structures and the support of
sixth-generation (6G) communication services for IoT applications, along with
key inferences. In a nutshell, this paper constitutes the first holistic
compilation on the development of XAI-based frameworks tailored for the demands
of future IoT use cases.Comment: 29 pages, 7 figures, 2 tables. IEEE Open Journal of the
Communications Society (2022
Designing AI Support for Human Involvement in AI-assisted Decision Making: A Taxonomy of Human-AI Interactions from a Systematic Review
Efforts in levering Artificial Intelligence (AI) in decision support systems
have disproportionately focused on technological advancements, often
overlooking the alignment between algorithmic outputs and human expectations.
To address this, explainable AI promotes AI development from a more
human-centered perspective. Determining what information AI should provide to
aid humans is vital, however, how the information is presented, e. g., the
sequence of recommendations and the solicitation of interpretations, is equally
crucial. This motivates the need to more precisely study Human-AI interaction
as a pivotal component of AI-based decision support. While several empirical
studies have evaluated Human-AI interactions in multiple application domains in
which interactions can take many forms, there is not yet a common vocabulary to
describe human-AI interaction protocols. To address this gap, we describe the
results of a systematic review of the AI-assisted decision making literature,
analyzing 105 selected articles, which grounds the introduction of a taxonomy
of interaction patterns that delineate various modes of human-AI interactivity.
We find that current interactions are dominated by simplistic collaboration
paradigms and report comparatively little support for truly interactive
functionality. Our taxonomy serves as a valuable tool to understand how
interactivity with AI is currently supported in decision-making contexts and
foster deliberate choices of interaction designs
Towards Human-centered Explainable AI: A Survey of User Studies for Model Explanations
Explainable AI (XAI) is widely viewed as a sine qua non for ever-expanding AI
research. A better understanding of the needs of XAI users, as well as
human-centered evaluations of explainable models are both a necessity and a
challenge. In this paper, we explore how HCI and AI researchers conduct user
studies in XAI applications based on a systematic literature review. After
identifying and thoroughly analyzing 97core papers with human-based XAI
evaluations over the past five years, we categorize them along the measured
characteristics of explanatory methods, namely trust, understanding, usability,
and human-AI collaboration performance. Our research shows that XAI is
spreading more rapidly in certain application domains, such as recommender
systems than in others, but that user evaluations are still rather sparse and
incorporate hardly any insights from cognitive or social sciences. Based on a
comprehensive discussion of best practices, i.e., common models, design
choices, and measures in user studies, we propose practical guidelines on
designing and conducting user studies for XAI researchers and practitioners.
Lastly, this survey also highlights several open research directions,
particularly linking psychological science and human-centered XAI
Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework
Evidence from empirical literature suggests that explainable complex behaviors can be built from structured compositions of explainable component behaviors with known properties. Such component behaviors can be built to directly perceive and exploit affordances. Using six examples of recent research in legged robot locomotion, we suggest that robots can be programmed to effectively exploit affordances without developing explicit internal models of them. We use a generative framework to discuss the examples, because it helps us to separate—and thus clarify the relationship between—description of affordance exploitation from description of the internal representations used by the robot in that exploitation. Under this framework, details of the architecture and environment are related to the emergent behavior of the system via a generative explanation. For example, the specific method of information processing a robot uses might be related to the affordance the robot is designed to exploit via a formal analysis of its control policy. By considering the mutuality of the agent-environment system during robot behavior design, roboticists can thus develop robust architectures which implicitly exploit affordances. The manner of this exploitation is made explicit by a well constructed generative explanation
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