Using Multi-view Recognition and Meta-data Annotation to Guide a Robot's Attention

In the transition from industrial to service robotics, robots will have to deal with increasingly unpredictable and variable environments. We present a system that is able to recognize objects of a certain class in an image and to identify their parts for potential interactions. The method can recognize objects from arbitrary viewpoints and generalizes to instances that have never been observed during training, even if they are partially occluded and appear against cluttered backgrounds. Our approach builds on the implicit shape model of Leibe et al. We extend it to couple recognition to the provision of meta-dat

An Active Pattern Recognition Architecture for Mobile Robots

An active, attentionally-modulated recognition architecture is proposed for object recognition and scene analysis. The proposed architecture forms part of navigation and trajectory planning modules for mobile robots. Key characteristics of the system include movement planning and execution based on environmental factors and internal goal definitions. Real-time implementation of the system is based on space-variant representation of the visual field, as well as an optimal visual processing scheme utilizing separate and parallel channels for the extraction of boundaries and stimulus qualities. A spatial and temporal grouping module (VWM) allows for scene scanning, multi-object segmentation, and featural/object priming. VWM is used to modulate a tn~ectory formation module capable of redirecting the focus of spatial attention. Finally, an object recognition module based on adaptive resonance theory is interfaced through VWM to the visual processing module. The system is capable of using information from different modalities to disambiguate sensory input.Defense Advanced Research Projects Agency (90-0083); Office of Naval Research (N00014-92-J-1309); Consejo Nacional de Ciencia y Tecnología (63462

Designing a robot to evaluate group formations

Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behaviors in order to become a social robot. This dissertation focuses on the problem of how to develop a robotic platform in order to validate human-robot interaction experiences in realistic environments. More specifically, we are concerned with social interactions in human-robot groups in public scenarios, where a variety of people can converge. Our final goal is the develop of a social robot based on certain theories of group behavior and the use of space, known as spatial relationships. The intermediate goals are related with the design and development of the experiences in the wild: as minor changes as possible in the scenario, definition of social tasks, gradual development of a robotic platform as transparent as possible from the robotic side. Initially, this research introduces several preliminary studies of human-robot interaction (HRI) with the PAL Robotics’ REEM robot at the CosmoCaixa Science Museum in Barcelona. Based on certain theories about the use of space as a form of social communication or interaction, the task under study with the commercial robot is as a museum guide, both when the group was in motion (\ie when it was being guided) as well as a group in a static place. Moreover, a second HRI study with REEM robot accomplishing the task of a teacher's assistant was carried out to analyze the perception of the robot's social presence and identity. Likewise, the development of a robotic platform, known as MASHI, for the study of HRI is presented. Based on the service to be completed by the robot, improvements in the experimental robotic platform (structure, morphology, head, face, arms) were carried out in continuous cycles following the development of HRI experiences. This structure should be hold as simple as possible in order to make it `transparent' in the social HRI study. Next, the field study of human-robot social interaction with the MASHI robot with the role of exhibition guide in a cultural center is presented. Based on direct observation techniques, a study is made of the different spatial relationships that are generated when a robot interacts with a person or groups of people. Finally, a novel approach to represent the spatial relationships of HRI in a qualitative way is introduced for future experiences. In this concluding study, we analyze different spatial arrangements generated in a social scenario with a robot within the guide role. As a main conclusion, it can be stated that people follow social norms, in the form of spatial relationships, when interacting with a robot that provide a social service in a public space. Children, however, recurrently challenge these social norms, probably because they are constantly learning about the norms that regulate our coexistence. Spatial relationships are clearly reinforced when the role assigned to the robot is more explicit and understood by people. Spatial relationships can be affected by the characteristics of the environment, either by the available space or by the elements arranged in it, as well as by the number of people who inhabit it. Overall, this dissertation points out that the provided service, and its understanding from the user’s side, is more important that the robotic skills of the robotic platform in order to improve user experiences in public environments.Los robots se abren paso en entornos habitados por personas. Ya sea en entornos domésticos o públicos, los robots deben tener en cuenta ciertas normas y comportamientos sociales para convertirse en un robot social. Esta disertación se centra en el problema de cómo desarrollar una plataforma robótica para validar experiencias de interacción humano-robot en entornos realistas. Más específicamente, nos preocupamos por las interacciones sociales en grupos humano-robot en escenarios públicos, donde una gran variedad de personas puede converger. Nuestro objetivo final es el desarrollo de un robot social basado en ciertas teorías de comportamiento grupal y el uso del espacio, conocidas como relaciones espaciales. Los objetivos intermedios están relacionados con el diseño y desarrollo de las experiencias `en la naturaleza': cambios mínimos como sea posible en el escenario, definición de tareas sociales, desarrollo gradual de una plataforma robótica lo más transparente posible desde el lado robótico. Inicialmente, esta investigación presenta varios estudios preliminares de interacción humano-robot (HRI) con el robot REEM de PAL Robotics en el Museo de Ciencias CosmoCaixa de Barcelona. Basado en ciertas teorías sobre el uso del espacio como una forma de comunicación o interacción social, la tarea en este estudio con el robot comercial es como guía de museo, tanto cuando el grupo estaba en movimiento (es decir, cuando estaba siendo guiado) como cuando el grupo estaba en un lugar estático. Además, se llevó a cabo un segundo estudio de HRI con un robot REEM que realizaba la tarea de un asistente de profesor para analizar la percepción de la presencia e identidad social del robot. Asimismo, se presenta el desarrollo de una plataforma robótica, conocida como MASHI, para el estudio de la HRI. En función del servicio que debe completar el robot, las mejoras en la plataforma robótica experimental (estructura, morfología, cabeza, cara, brazos) se llevaron a cabo en ciclos continuos siguiendo el desarrollo de las experiencias de HRI. Esta estructura debe mantenerse lo más simple posible para que sea 'transparente' en el estudio de HRI social. A continuación, se presenta el estudio de campo de la interacción social humano-robot con el robot MASHI con el papel de guía de exposición en un centro cultural. Con base en técnicas de observación directa, se realiza un estudio de las diferentes relaciones espaciales que se generan cuando un robot interactúa con una persona o grupos de personas. Finalmente, se introduce un enfoque novedoso para representar las relaciones espaciales de la HRI de forma cualitativa para las experiencias futuras. En este estudio final, analizamos diferentes arreglos espaciales generados en un escenario social con un robot con el rol de guía. Como conclusión principal, se puede afirmar que las personas siguen normas sociales, en forma de relaciones espaciales, cuando interactúan con un robot que brinda un servicio social en un espacio público. Los niños, sin embargo, desafían recurrentemente estas normas sociales, probablemente porque están aprendiendo constantemente sobre las normas que regulan nuestra convivencia. Las relaciones espaciales se refuerzan claramente cuando el rol asignado al robot es más explícito y entendido por las personas. Las relaciones espaciales pueden verse afectadas por las características del entorno, ya sea por el espacio disponible o por los elementos dispuestos en él, así como por el número de personas que lo habitan. En general, esta disertación señala que el servicio prestado, y su comprensión del lado del usuario, es más importante que las habilidades robóticas de la plataforma robótica con el fin de mejorar las experiencias del usuario en entornos público

Designing a robot to evaluate group formations

Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behaviors in order to become a social robot. This dissertation focuses on the problem of how to develop a robotic platform in order to validate human-robot interaction experiences in realistic environments. More specifically, we are concerned with social interactions in human-robot groups in public scenarios, where a variety of people can converge. Our final goal is the develop of a social robot based on certain theories of group behavior and the use of space, known as spatial relationships. The intermediate goals are related with the design and development of the experiences in the wild: as minor changes as possible in the scenario, definition of social tasks, gradual development of a robotic platform as transparent as possible from the robotic side. Initially, this research introduces several preliminary studies of human-robot interaction (HRI) with the PAL Robotics’ REEM robot at the CosmoCaixa Science Museum in Barcelona. Based on certain theories about the use of space as a form of social communication or interaction, the task under study with the commercial robot is as a museum guide, both when the group was in motion (\ie when it was being guided) as well as a group in a static place. Moreover, a second HRI study with REEM robot accomplishing the task of a teacher's assistant was carried out to analyze the perception of the robot's social presence and identity. Likewise, the development of a robotic platform, known as MASHI, for the study of HRI is presented. Based on the service to be completed by the robot, improvements in the experimental robotic platform (structure, morphology, head, face, arms) were carried out in continuous cycles following the development of HRI experiences. This structure should be hold as simple as possible in order to make it `transparent' in the social HRI study. Next, the field study of human-robot social interaction with the MASHI robot with the role of exhibition guide in a cultural center is presented. Based on direct observation techniques, a study is made of the different spatial relationships that are generated when a robot interacts with a person or groups of people. Finally, a novel approach to represent the spatial relationships of HRI in a qualitative way is introduced for future experiences. In this concluding study, we analyze different spatial arrangements generated in a social scenario with a robot within the guide role. As a main conclusion, it can be stated that people follow social norms, in the form of spatial relationships, when interacting with a robot that provide a social service in a public space. Children, however, recurrently challenge these social norms, probably because they are constantly learning about the norms that regulate our coexistence. Spatial relationships are clearly reinforced when the role assigned to the robot is more explicit and understood by people. Spatial relationships can be affected by the characteristics of the environment, either by the available space or by the elements arranged in it, as well as by the number of people who inhabit it. Overall, this dissertation points out that the provided service, and its understanding from the user’s side, is more important that the robotic skills of the robotic platform in order to improve user experiences in public environments.Los robots se abren paso en entornos habitados por personas. Ya sea en entornos domésticos o públicos, los robots deben tener en cuenta ciertas normas y comportamientos sociales para convertirse en un robot social. Esta disertación se centra en el problema de cómo desarrollar una plataforma robótica para validar experiencias de interacción humano-robot en entornos realistas. Más específicamente, nos preocupamos por las interacciones sociales en grupos humano-robot en escenarios públicos, donde una gran variedad de personas puede converger. Nuestro objetivo final es el desarrollo de un robot social basado en ciertas teorías de comportamiento grupal y el uso del espacio, conocidas como relaciones espaciales. Los objetivos intermedios están relacionados con el diseño y desarrollo de las experiencias `en la naturaleza': cambios mínimos como sea posible en el escenario, definición de tareas sociales, desarrollo gradual de una plataforma robótica lo más transparente posible desde el lado robótico. Inicialmente, esta investigación presenta varios estudios preliminares de interacción humano-robot (HRI) con el robot REEM de PAL Robotics en el Museo de Ciencias CosmoCaixa de Barcelona. Basado en ciertas teorías sobre el uso del espacio como una forma de comunicación o interacción social, la tarea en este estudio con el robot comercial es como guía de museo, tanto cuando el grupo estaba en movimiento (es decir, cuando estaba siendo guiado) como cuando el grupo estaba en un lugar estático. Además, se llevó a cabo un segundo estudio de HRI con un robot REEM que realizaba la tarea de un asistente de profesor para analizar la percepción de la presencia e identidad social del robot. Asimismo, se presenta el desarrollo de una plataforma robótica, conocida como MASHI, para el estudio de la HRI. En función del servicio que debe completar el robot, las mejoras en la plataforma robótica experimental (estructura, morfología, cabeza, cara, brazos) se llevaron a cabo en ciclos continuos siguiendo el desarrollo de las experiencias de HRI. Esta estructura debe mantenerse lo más simple posible para que sea 'transparente' en el estudio de HRI social. A continuación, se presenta el estudio de campo de la interacción social humano-robot con el robot MASHI con el papel de guía de exposición en un centro cultural. Con base en técnicas de observación directa, se realiza un estudio de las diferentes relaciones espaciales que se generan cuando un robot interactúa con una persona o grupos de personas. Finalmente, se introduce un enfoque novedoso para representar las relaciones espaciales de la HRI de forma cualitativa para las experiencias futuras. En este estudio final, analizamos diferentes arreglos espaciales generados en un escenario social con un robot con el rol de guía. Como conclusión principal, se puede afirmar que las personas siguen normas sociales, en forma de relaciones espaciales, cuando interactúan con un robot que brinda un servicio social en un espacio público. Los niños, sin embargo, desafían recurrentemente estas normas sociales, probablemente porque están aprendiendo constantemente sobre las normas que regulan nuestra convivencia. Las relaciones espaciales se refuerzan claramente cuando el rol asignado al robot es más explícito y entendido por las personas. Las relaciones espaciales pueden verse afectadas por las características del entorno, ya sea por el espacio disponible o por los elementos dispuestos en él, así como por el número de personas que lo habitan. En general, esta disertación señala que el servicio prestado, y su comprensión del lado del usuario, es más importante que las habilidades robóticas de la plataforma robótica con el fin de mejorar las experiencias del usuario en entornos públicosPostprint (published version

Positional estimation techniques for an autonomous mobile robot

Techniques for positional estimation of a mobile robot navigation in an indoor environment are described. A comprehensive review of the various positional estimation techniques studied in the literature is first presented. The techniques are divided into four different types and each of them is discussed briefly. Two different kinds of environments are considered for positional estimation; mountainous natural terrain and an urban, man-made environment with polyhedral buildings. In both cases, the robot is assumed to be equipped with single visual camera that can be panned and tilted and also a 3-D description (world model) of the environment is given. Such a description could be obtained from a stereo pair of aerial images or from the architectural plans of the buildings. Techniques for positional estimation using the camera input and the world model are presented

Developmental learning of internal models for robotics

Abstract: Robots that operate in human environments can learn motor skills asocially, from selfexploration, or socially, from imitating their peers. A robot capable of doing both can be more ~daptiveand autonomous. Learning by imitation, however, requires the ability to understand the actions ofothers in terms ofyour own motor system: this information can come from a robot's own exploration. This thesis investigates the minimal requirements for a robotic system than learns from both self-exploration and imitation of others. .Through self.exploration and computer vision techniques, a robot can develop forward 'models: internal mo'dels of its own motor system that enable it to predict the consequences of its actions. Multiple forward models are learnt that give the robot a distributed, causal representation of its motor system. It is demon~trated how a controlled increase in the complexity of these forward models speeds up the robot's learning. The robot can determine the uncertainty of its forward models, enabling it to explore so as to improve the accuracy of its???????predictions. Paying attention fO the forward models according to how their uncertainty is changing leads to a development in the robot's exploration: its interventions focus on increasingly difficult situations, adapting to the complexity of its motor system. A robot can invert forward models, creating inverse models, in order to estimate the actions that will achieve a desired goal. Switching to socialleaming. the robot uses these inverse model~ to imitate both a demonstrator's gestures and the underlying goals of their movement.Imperial Users onl

Research and applications: Artificial intelligence

The program is reported for developing techniques in artificial intelligence and their application to the control of mobile automatons for carrying out tasks autonomously. Visual scene analysis, short-term problem solving, and long-term problem solving are discussed along with the PDP-15 simulator, LISP-FORTRAN-MACRO interface, resolution strategies, and cost effectiveness