Resolving Perception Based Problems in Human-Computer Dialogue

We investigate the effect of sensor errors on situated human­ computer dialogues. If a human user instructs a robot to perform a task in a spatial environment, errors in the robot\u27s sensor based perception of the environment may result in divergences between the user\u27s and the robot\u27s understanding of the environment. If the user and the robot communicate through a language based interface, these problems may result in complex misunderstand­ ings. In this work we investigate such situations. We set up a simulation based scenario in which a human user instructs a robot to perform a series of manipulation tasks, such as lifting, moving and re-arranging simple objects. We induce errors into the robot\u27s perception, such as misclassification of shapes and colours, and record and analyse the user\u27s attempts to resolve the problems. We evaluate a set of methods to alleviate the problems by allowing the operator to access the robot\u27s understanding of the scene. We investigate a uni-directional language based option, which is based on automatically generated scene descriptions, a visually based option, in which the system highlights objects and provides known properties, and a dialogue based assistance option. In this option the participant can a.sk simple questions about the robot\u27s perception of the scene. As a baseline condition we perform the experiment without introducing any errors. We evaluate and compare the success and problems in all four conditions. We identify and compare strategies the participants used in each condition. We find that the participants appreciate and use the information request options successfully. We find that that all options provide an improvement over the condition without information. We conclude that allowing the participants to access information about the robot\u27s perception state is an effective way to resolve problems in the dialogue

A Comparison of Visualisation Methods for Disambiguating Verbal Requests in Human-Robot Interaction

Picking up objects requested by a human user is a common task in human-robot interaction. When multiple objects match the user's verbal description, the robot needs to clarify which object the user is referring to before executing the action. Previous research has focused on perceiving user's multimodal behaviour to complement verbal commands or minimising the number of follow up questions to reduce task time. In this paper, we propose a system for reference disambiguation based on visualisation and compare three methods to disambiguate natural language instructions. In a controlled experiment with a YuMi robot, we investigated real-time augmentations of the workspace in three conditions -- mixed reality, augmented reality, and a monitor as the baseline -- using objective measures such as time and accuracy, and subjective measures like engagement, immersion, and display interference. Significant differences were found in accuracy and engagement between the conditions, but no differences were found in task time. Despite the higher error rates in the mixed reality condition, participants found that modality more engaging than the other two, but overall showed preference for the augmented reality condition over the monitor and mixed reality conditions

Multimodal and ubiquitous computing systems: supporting independent-living older users

We document the rationale and design of a multimodal interface to a pervasive/ubiquitous computing system that supports independent living by older people in their own homes. The Millennium Home system involves fitting a resident’s home with sensors – these sensors can be used to trigger sequences of interaction with the resident to warn them about dangerous events, or to check if they need external help. We draw lessons from the design process and conclude the paper with implications for the design of multimodal interfaces to ubiquitous systems developed for the elderly and in healthcare, as well as for more general ubiquitous computing applications

Spatial context-aware person-following for a domestic robot

Domestic robots are in the focus of research in terms of service providers in households and even as robotic companion that share the living space with humans. A major capability of mobile domestic robots that is joint exploration of space. One challenge to deal with this task is how could we let the robots move in space in reasonable, socially acceptable ways so that it will support interaction and communication as a part of the joint exploration. As a step towards this challenge, we have developed a context-aware following behav- ior considering these social aspects and applied these together with a multi-modal person-tracking method to switch between three basic following approaches, namely direction-following, path-following and parallel-following. These are derived from the observation of human-human following schemes and are activated depending on the current spatial context (e.g. free space) and the relative position of the interacting human. A combination of the elementary behaviors is performed in real time with our mobile robot in different environments. First experimental results are provided to demonstrate the practicability of the proposed approach

Setting the stage – embodied and spatial dimensions in emerging programming practices.

In the design of interactive systems, developers sometimes need to engage in various ways of physical performance in order to communicate ideas and to test out properties of the system to be realised. External resources such as sketches, as well as bodily action, often play important parts in such processes, and several methods and tools that explicitly address such aspects of interaction design have recently been developed. This combined with the growing range of pervasive, ubiquitous, and tangible technologies add up to a complex web of physicality within the practice of designing interactive systems. We illustrate this dimension of systems development through three cases which in different ways address the design of systems where embodied performance is important. The first case shows how building a physical sport simulator emphasises a shift in activity between programming and debugging. The second case shows a build-once run-once scenario, where the fine-tuning and control of the run-time activity gets turned into an act of in situ performance by the programmers. The third example illustrates the explorative and experiential nature of programming and debugging systems for specialised and autonomous interaction devices. This multitude in approaches in existing programming settings reveals an expanded perspective of what practices of interaction design consist of, emphasising the interlinking between design, programming, and performance with the system that is being developed

Logic, self-awareness and self-improvement: The metacognitive loop and the problem of brittleness

This essay describes a general approach to building perturbation-tolerant autonomous systems, based on the conviction that artificial agents should be able notice when something is amiss, assess the anomaly, and guide a solution into place. We call this basic strategy of self-guided learning the metacognitive loop; it involves the system monitoring, reasoning about, and, when necessary, altering its own decision-making components. In this essay, we (a) argue that equipping agents with a metacognitive loop can help to overcome the brittleness problem, (b) detail the metacognitive loop and its relation to our ongoing work on time-sensitive commonsense reasoning, (c) describe specific, implemented systems whose perturbation tolerance was improved by adding a metacognitive loop, and (d) outline both short-term and long-term research agendas

Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

Symbiotic interaction between humans and robot swarms

Comprising of a potentially large team of autonomous cooperative robots locally interacting and communicating with each other, robot swarms provide a natural diversity of parallel and distributed functionalities, high flexibility, potential for redundancy, and fault-tolerance. The use of autonomous mobile robots is expected to increase in the future and swarm robotic systems are envisioned to play important roles in tasks such as: search and rescue (SAR) missions, transportation of objects, surveillance, and reconnaissance operations. To robustly deploy robot swarms on the field with humans, this research addresses the fundamental problems in the relatively new field of human-swarm interaction (HSI). Four groups of core classes of problems have been addressed for proximal interaction between humans and robot swarms: interaction and communication; swarm-level sensing and classification; swarm coordination; swarm-level learning. The primary contribution of this research aims to develop a bidirectional human-swarm communication system for non-verbal interaction between humans and heterogeneous robot swarms. The guiding field of application are SAR missions. The core challenges and issues in HSI include: How can human operators interact and communicate with robot swarms? Which interaction modalities can be used by humans? How can human operators instruct and command robots from a swarm? Which mechanisms can be used by robot swarms to convey feedback to human operators? Which type of feedback can swarms convey to humans? In this research, to start answering these questions, hand gestures have been chosen as the interaction modality for humans, since gestures are simple to use, easily recognized, and possess spatial-addressing properties. To facilitate bidirectional interaction and communication, a dialogue-based interaction system is introduced which consists of: (i) a grammar-based gesture language with a vocabulary of non-verbal commands that allows humans to efficiently provide mission instructions to swarms, and (ii) a swarm coordinated multi-modal feedback language that enables robot swarms to robustly convey swarm-level decisions, status, and intentions to humans using multiple individual and group modalities. The gesture language allows humans to: select and address single and multiple robots from a swarm, provide commands to perform tasks, specify spatial directions and application-specific parameters, and build iconic grammar-based sentences by combining individual gesture commands. Swarms convey different types of multi-modal feedback to humans using on-board lights, sounds, and locally coordinated robot movements. The swarm-to-human feedback: conveys to humans the swarm's understanding of the recognized commands, allows swarms to assess their decisions (i.e., to correct mistakes: made by humans in providing instructions, and errors made by swarms in recognizing commands), and guides humans through the interaction process. The second contribution of this research addresses swarm-level sensing and classification: How can robot swarms collectively sense and recognize hand gestures given as visual signals by humans? Distributed sensing, cooperative recognition, and decision-making mechanisms have been developed to allow robot swarms to collectively recognize visual instructions and commands given by humans in the form of gestures. These mechanisms rely on decentralized data fusion strategies and multi-hop messaging passing algorithms to robustly build swarm-level consensus decisions. Measures have been introduced in the cooperative recognition protocol which provide a trade-off between the accuracy of swarm-level consensus decisions and the time taken to build swarm decisions. The third contribution of this research addresses swarm-level cooperation: How can humans select spatially distributed robots from a swarm and the robots understand that they have been selected? How can robot swarms be spatially deployed for proximal interaction with humans? With the introduction of spatially-addressed instructions (pointing gestures) humans can robustly address and select spatially- situated individuals and groups of robots from a swarm. A cascaded classification scheme is adopted in which, first the robot swarm identifies the selection command (e.g., individual or group selection), and then the robots coordinate with each other to identify if they have been selected. To obtain better views of gestures issued by humans, distributed mobility strategies have been introduced for the coordinated deployment of heterogeneous robot swarms (i.e., ground and flying robots) and to reshape the spatial distribution of swarms. The fourth contribution of this research addresses the notion of collective learning in robot swarms. The questions that are answered include: How can robot swarms learn about the hand gestures given by human operators? How can humans be included in the loop of swarm learning? How can robot swarms cooperatively learn as a team? Online incremental learning algorithms have been developed which allow robot swarms to learn individual gestures and grammar-based gesture sentences supervised by human instructors in real-time. Humans provide different types of feedback (i.e., full or partial feedback) to swarms for improving swarm-level learning. To speed up the learning rate of robot swarms, cooperative learning strategies have been introduced which enable individual robots in a swarm to intelligently select locally sensed information and share (exchange) selected information with other robots in the swarm. The final contribution is a systemic one, it aims on building a complete HSI system towards potential use in real-world applications, by integrating the algorithms, techniques, mechanisms, and strategies discussed in the contributions above. The effectiveness of the global HSI system is demonstrated in the context of a number of interactive scenarios using emulation tests (i.e., performing simulations using gesture images acquired by a heterogeneous robotic swarm) and by performing experiments with real robots using both ground and flying robots