20,046 research outputs found
Fast human motion prediction for human-robot collaboration with wearable interfaces
In this paper, we aim at improving human motion prediction during human-robot
collaboration in industrial facilities by exploiting contributions from both
physical and physiological signals. Improved human-machine collaboration could
prove useful in several areas, while it is crucial for interacting robots to
understand human movement as soon as possible to avoid accidents and injuries.
In this perspective, we propose a novel human-robot interface capable to
anticipate the user intention while performing reaching movements on a working
bench in order to plan the action of a collaborative robot. The proposed
interface can find many applications in the Industry 4.0 framework, where
autonomous and collaborative robots will be an essential part of innovative
facilities. A motion intention prediction and a motion direction prediction
levels have been developed to improve detection speed and accuracy. A Gaussian
Mixture Model (GMM) has been trained with IMU and EMG data following an
evidence accumulation approach to predict reaching direction. Novel dynamic
stopping criteria have been proposed to flexibly adjust the trade-off between
early anticipation and accuracy according to the application. The output of the
two predictors has been used as external inputs to a Finite State Machine (FSM)
to control the behaviour of a physical robot according to user's action or
inaction. Results show that our system outperforms previous methods, achieving
a real-time classification accuracy of after
from movement onset
Interactive Robot Learning of Gestures, Language and Affordances
A growing field in robotics and Artificial Intelligence (AI) research is
human-robot collaboration, whose target is to enable effective teamwork between
humans and robots. However, in many situations human teams are still superior
to human-robot teams, primarily because human teams can easily agree on a
common goal with language, and the individual members observe each other
effectively, leveraging their shared motor repertoire and sensorimotor
resources. This paper shows that for cognitive robots it is possible, and
indeed fruitful, to combine knowledge acquired from interacting with elements
of the environment (affordance exploration) with the probabilistic observation
of another agent's actions.
We propose a model that unites (i) learning robot affordances and word
descriptions with (ii) statistical recognition of human gestures with vision
sensors. We discuss theoretical motivations, possible implementations, and we
show initial results which highlight that, after having acquired knowledge of
its surrounding environment, a humanoid robot can generalize this knowledge to
the case when it observes another agent (human partner) performing the same
motor actions previously executed during training.Comment: code available at https://github.com/gsaponaro/glu-gesture
Arena: A General Evaluation Platform and Building Toolkit for Multi-Agent Intelligence
Learning agents that are not only capable of taking tests, but also
innovating is becoming a hot topic in AI. One of the most promising paths
towards this vision is multi-agent learning, where agents act as the
environment for each other, and improving each agent means proposing new
problems for others. However, existing evaluation platforms are either not
compatible with multi-agent settings, or limited to a specific game. That is,
there is not yet a general evaluation platform for research on multi-agent
intelligence. To this end, we introduce Arena, a general evaluation platform
for multi-agent intelligence with 35 games of diverse logics and
representations. Furthermore, multi-agent intelligence is still at the stage
where many problems remain unexplored. Therefore, we provide a building toolkit
for researchers to easily invent and build novel multi-agent problems from the
provided game set based on a GUI-configurable social tree and five basic
multi-agent reward schemes. Finally, we provide Python implementations of five
state-of-the-art deep multi-agent reinforcement learning baselines. Along with
the baseline implementations, we release a set of 100 best agents/teams that we
can train with different training schemes for each game, as the base for
evaluating agents with population performance. As such, the research community
can perform comparisons under a stable and uniform standard. All the
implementations and accompanied tutorials have been open-sourced for the
community at https://sites.google.com/view/arena-unity/
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