3,202 research outputs found
Grounding spatial relations in natural language by fuzzy representation for human-robot interaction
Additional file 1. Fourier coefficient decomposition for the first guess of the NewtonĂąÂÂs method
Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks
A major challenge for the realization of intelligent robots is to supply them
with cognitive abilities in order to allow ordinary users to program them
easily and intuitively. One way of such programming is teaching work tasks by
interactive demonstration. To make this effective and convenient for the user,
the machine must be capable to establish a common focus of attention and be
able to use and integrate spoken instructions, visual perceptions, and
non-verbal clues like gestural commands. We report progress in building a
hybrid architecture that combines statistical methods, neural networks, and
finite state machines into an integrated system for instructing grasping tasks
by man-machine interaction. The system combines the GRAVIS-robot for visual
attention and gestural instruction with an intelligent interface for speech
recognition and linguistic interpretation, and an modality fusion module to
allow multi-modal task-oriented man-machine communication with respect to
dextrous robot manipulation of objects.Comment: 7 pages, 8 figure
Self-Supervised Vision-Based Detection of the Active Speaker as Support for Socially-Aware Language Acquisition
This paper presents a self-supervised method for visual detection of the
active speaker in a multi-person spoken interaction scenario. Active speaker
detection is a fundamental prerequisite for any artificial cognitive system
attempting to acquire language in social settings. The proposed method is
intended to complement the acoustic detection of the active speaker, thus
improving the system robustness in noisy conditions. The method can detect an
arbitrary number of possibly overlapping active speakers based exclusively on
visual information about their face. Furthermore, the method does not rely on
external annotations, thus complying with cognitive development. Instead, the
method uses information from the auditory modality to support learning in the
visual domain. This paper reports an extensive evaluation of the proposed
method using a large multi-person face-to-face interaction dataset. The results
show good performance in a speaker dependent setting. However, in a speaker
independent setting the proposed method yields a significantly lower
performance. We believe that the proposed method represents an essential
component of any artificial cognitive system or robotic platform engaging in
social interactions.Comment: 10 pages, IEEE Transactions on Cognitive and Developmental System
Classifying types of gesture and inferring intent
In order to infer intent from gesture, a rudimentary classification of types of gestures into five main classes is introduced. The classification is intended as a basis for incorporating the understanding of gesture into human-robot interaction (HRI). Some requirements for the operational classification of gesture by a robot interacting with humans are also suggested
Towards adaptive multi-robot systems: self-organization and self-adaptation
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugÀnglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible
Do (and say) as I say: Linguistic adaptation in human-computer dialogs
© Theodora Koulouri, Stanislao Lauria, and Robert D. Macredie. This article has been made available through the Brunel Open Access Publishing Fund.There is strong research evidence showing that people naturally align to each otherâs vocabulary, sentence structure, and acoustic features in dialog, yet little is known about how the alignment mechanism operates in the interaction between users and computer systems let alone how it may be exploited to improve the efficiency of the interaction. This article provides an account of lexical alignment in humanâcomputer dialogs, based on empirical data collected in a simulated humanâcomputer interaction scenario. The results indicate that alignment is present, resulting in the gradual reduction and stabilization of the vocabulary-in-use, and that it is also reciprocal. Further, the results suggest that when system and user errors occur, the development of alignment is temporarily disrupted and users tend to introduce novel words to the dialog. The results also indicate that alignment in humanâcomputer interaction may have a strong strategic component and is used as a resource to compensate for less optimal (visually impoverished) interaction conditions. Moreover, lower alignment is associated with less successful interaction, as measured by user perceptions. The article distills the results of the study into design recommendations for humanâcomputer dialog systems and uses them to outline a model of dialog management that supports and exploits alignment through mechanisms for in-use adaptation of the systemâs grammar and lexicon
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