Anticipation in Human-Robot Cooperation: A Recurrent Neural Network Approach for Multiple Action Sequences Prediction

Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues. Recent approaches based on neural networks have led to encouraging results in the human action prediction problem both in continuous and discrete spaces. Our approach extends the research in this direction. Our contributions are three-fold. First, we validate the use of gaze and body pose cues as a means of predicting human action through a feature selection method. Next, we address two shortcomings of existing literature: predicting multiple and variable-length action sequences. This is achieved by introducing an encoder-decoder recurrent neural network topology in the discrete action prediction problem. In addition, we theoretically demonstrate the importance of predicting multiple action sequences as a means of estimating the stochastic reward in a human robot cooperation scenario. Finally, we show the ability to effectively train the prediction model on a action prediction dataset, involving human motion data, and explore the influence of the model's parameters on its performance. Source code repository: https://github.com/pschydlo/ActionAnticipationComment: IEEE International Conference on Robotics and Automation (ICRA) 2018, Accepte

Sex differences in eye gaze and symbolic cueing of attention

Observing a face with averted eyes results in a reflexive shift of attention to the gazed-at location. Here we present results that show that this effect is weaker in males than in females (Experiment 1). This result is predicted by the ‘extreme male brain’ theory of autism (Baron-Cohen, 2003), which suggests that males in the normal population should display more autism-like traits than females (e.g., poor joint attention). Indeed, participants′ scores on the Autism-Spectrum Quotient (Baron-Cohen, Wheelwright, Stott, Bolton, & Goodyear, 2001) negatively correlated with cueing magnitude. Furthermore, exogenous orienting did not differ between the sexes in two peripheral cueing experiments (Experiments 2a and 2b). However, a final experiment showed that using non-predictive arrows instead of eyes as a central cue also revealed a large gender difference. This demonstrates that reduced orienting from central cues in males generalizes beyond gaze cues. These results show that while peripheral cueing is equivalent in the male and female brains, the attention systems of the two sexes treat noninformative symbolic cues very differently

Sound for Fantasy and Freedom

Sound is an integral part of our everyday lives. Sound tells us about physical events in the environ- ment, and we use our voices to share ideas and emotions through sound. When navigating the world on a day-to-day basis, most of us use a balanced mix of stimuli from our eyes, ears and other senses to get along. We do this totally naturally and without effort. In the design of computer game experiences, traditionally, most attention has been given to vision rather than the balanced mix of stimuli from our eyes, ears and other senses most of us use to navigate the world on a day to day basis. The risk is that this emphasis neglects types of interaction with the game needed to create an immersive experience. This chapter summarizes the relationship between sound properties, GameFlow and immersive experience and discusses two projects in which Interactive Institute, Sonic Studio has balanced perceptual stimuli and game mechanics to inspire and create new game concepts that liberate users and their imagination

Initiating technical refinements in high-level golfers: Evidence for contradictory procedures

When developing motor skills there are several outcomes available to an athlete depending on their skill status and needs. Whereas the skill acquisition and performance literature is abundant, an under-researched outcome relates to the refinement of already acquired and well-established skills. Contrary to current recommendations for athletes to employ an external focus of attention and a representative practice design, Carson and Collins’ (2011) [Refining and regaining skills in fixation/diversification stage performers: The Five-A Model. International Review of Sport and Exercise Psychology, 4, 146–167. doi:10.1080/1750984x.2011.613682] Five-A Model requires an initial narrowed internal focus on the technical aspect needing refinement: the implication being that environments which limit external sources of information would be beneficial to achieving this task. Therefore, the purpose of this paper was to (1) provide a literature-based explanation for why techniques counter to current recommendations may be (temporarily) appropriate within the skill refinement process and (2) provide empirical evidence for such efficacy. Kinematic data and self-perception reports are provided from high level golfers attempting to consciously initiate technical refinements while executing shots onto a driving range and into a close proximity net (i.e. with limited knowledge of results). It was hypothesised that greater control over intended refinements would occur when environmental stimuli were reduced in the most unrepresentative practice condition (i.e. hitting into a net). Results confirmed this, as evidenced by reduced intra-individual movement variability for all participants’ individual refinements, despite little or no difference in mental effort reported. This research offers coaches guidance when working with performers who may find conscious recall difficult during the skill refinement process

Social presence and dishonesty in retail

Self-service checkouts (SCOs) in retail can benefit consumers and retailers, providing control and autonomy to shoppers independent from staff, together with reduced queuing times. Recent research indicates that the absence of staff may provide the opportunity for consumers to behave dishonestly, consistent with a perceived lack of social presence. This study examined whether a social presence in the form of various instantiations of embodied, visual, humanlike SCO interface agents had an effect on opportunistic behaviour. Using a simulated SCO scenario, participants experienced various dilemmas in which they could financially benefit themselves undeservedly. We hypothesised that a humanlike social presence integrated within the checkout screen would receive more attention and result in fewer instances of dishonesty compared to a less humanlike agent. This was partially supported by the results. The findings contribute to the theoretical framework in social presence research. We concluded that companies adopting self-service technology may consider the implementation of social presence in technology applications to support ethical consumer behaviour, but that more research is required to explore the mixed findings in the current study.<br/

Honesty, social presence, and self-service in retail

Retail self-service checkouts (SCOs) can benefit consumers and retailers, providing control and autonomy to shoppers independent from staff. Recent research indicates that the lack of presence of staff may provide the opportunity for consumers to behave dishonestly. This study examined whether a social presence in the form of visual, humanlike SCO interface agents had an effect on dishonest user behaviour. Using a simulated SCO scenario, participants experienced various dilemmas in which they could financially benefit themselves undeservedly. We hypothesised that a humanlike social presence integrated within the checkout screen would receive more attention and result in fewer instances of dishonesty compared to a less humanlike agent. Our hypotheses were partially supported by the results. We conclude that companies adopting self-service technology may consider the implementation of social presence to support ethical consumer behaviour, but that more research is required to explore the mixed findings in the current study

Designing Familiar Open Surfaces

While participatory design makes end-users part of the design process, we might also want the resulting system to be open for interpretation, appropriation and change over time to reflect its usage. But how can we design for appropriation? We need to strike a good balance between making the user an active co-constructor of system functionality versus making a too strong, interpretative design that does it all for the user thereby inhibiting their own creative use of the system. Through revisiting five systems in which appropriation has happened both within and outside the intended use, we are going to show how it can be possible to design with open surfaces. These open surfaces have to be such that users can fill them with their own interpretation and content, they should be familiar to the user, resonating with their real world practice and understanding, thereby shaping its use

Development of an information sheet providing rapport advice for interpreters in police interviews

The present paper reports the development of an information sheet designed to aid interpreters in police interviews in recognizing, conveying and inadvertently obstructing rapport-building efforts by police interviewers. The contents of this sheet were informed by past research defining rapport, and rapport uses in police interviews. We used a mixed experimental design to test the information sheet. One group (Intervention, n = 35) was randomly assigned to read an information sheet before responding to short vignettes of police interviewing foreign non-English speaking suspects about international crimes, while another (Control) group (n = 37) simply responded to the vignettes. Perceptions of rapport cues by the intervention group exceeded that of the control group. However, the groups performed equally well at identifying appropriate methods to convey/avoid obstructing rapport. Feedback from the intervention group on the helpfulness of the information sheet was largely positive. The findings were used to improve the information sheet which can be used to alert interpreters to the importance of rapport in suspect interviews