26,371 research outputs found
Shared Autonomy via Hindsight Optimization
In shared autonomy, user input and robot autonomy are combined to control a
robot to achieve a goal. Often, the robot does not know a priori which goal the
user wants to achieve, and must both predict the user's intended goal, and
assist in achieving that goal. We formulate the problem of shared autonomy as a
Partially Observable Markov Decision Process with uncertainty over the user's
goal. We utilize maximum entropy inverse optimal control to estimate a
distribution over the user's goal based on the history of inputs. Ideally, the
robot assists the user by solving for an action which minimizes the expected
cost-to-go for the (unknown) goal. As solving the POMDP to select the optimal
action is intractable, we use hindsight optimization to approximate the
solution. In a user study, we compare our method to a standard
predict-then-blend approach. We find that our method enables users to
accomplish tasks more quickly while utilizing less input. However, when asked
to rate each system, users were mixed in their assessment, citing a tradeoff
between maintaining control authority and accomplishing tasks quickly
The Green Choice: Learning and Influencing Human Decisions on Shared Roads
Autonomous vehicles have the potential to increase the capacity of roads via
platooning, even when human drivers and autonomous vehicles share roads.
However, when users of a road network choose their routes selfishly, the
resulting traffic configuration may be very inefficient. Because of this, we
consider how to influence human decisions so as to decrease congestion on these
roads. We consider a network of parallel roads with two modes of
transportation: (i) human drivers who will choose the quickest route available
to them, and (ii) ride hailing service which provides an array of autonomous
vehicle ride options, each with different prices, to users. In this work, we
seek to design these prices so that when autonomous service users choose from
these options and human drivers selfishly choose their resulting routes, road
usage is maximized and transit delay is minimized. To do so, we formalize a
model of how autonomous service users make choices between routes with
different price/delay values. Developing a preference-based algorithm to learn
the preferences of the users, and using a vehicle flow model related to the
Fundamental Diagram of Traffic, we formulate a planning optimization to
maximize a social objective and demonstrate the benefit of the proposed routing
and learning scheme.Comment: Submitted to CDC 201
Autonomy Infused Teleoperation with Application to BCI Manipulation
Robot teleoperation systems face a common set of challenges including
latency, low-dimensional user commands, and asymmetric control inputs. User
control with Brain-Computer Interfaces (BCIs) exacerbates these problems
through especially noisy and erratic low-dimensional motion commands due to the
difficulty in decoding neural activity. We introduce a general framework to
address these challenges through a combination of computer vision, user intent
inference, and arbitration between the human input and autonomous control
schemes. Adjustable levels of assistance allow the system to balance the
operator's capabilities and feelings of comfort and control while compensating
for a task's difficulty. We present experimental results demonstrating
significant performance improvement using the shared-control assistance
framework on adapted rehabilitation benchmarks with two subjects implanted with
intracortical brain-computer interfaces controlling a seven degree-of-freedom
robotic manipulator as a prosthetic. Our results further indicate that shared
assistance mitigates perceived user difficulty and even enables successful
performance on previously infeasible tasks. We showcase the extensibility of
our architecture with applications to quality-of-life tasks such as opening a
door, pouring liquids from containers, and manipulation with novel objects in
densely cluttered environments
Cloud-based desktop services for thin clients
Cloud computing and ubiquitous network availability have renewed people's interest in the thin client concept. By executing applications in virtual desktops on cloud servers, users can access any application from any location with any device. For this to be a successful alternative to traditional offline applications, however, researchers must overcome important challenges. The thin client protocol must display audiovisual output fluidly, and the server executing the virtual desktop should have sufficient resources and ideally be close to the user's current location to limit network delay. From a service provider viewpoint, cost reduction is also an important issue
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