Incremental Learning for Robot Perception through HRI

Scene understanding and object recognition is a difficult to achieve yet crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have shown success in this task. However, there is still a gap between their performance on image datasets and real-world robotics scenarios. We present a novel paradigm for incrementally improving a robot's visual perception through active human interaction. In this paradigm, the user introduces novel objects to the robot by means of pointing and voice commands. Given this information, the robot visually explores the object and adds images from it to re-train the perception module. Our base perception module is based on recent development in object detection and recognition using deep learning. Our method leverages state of the art CNNs from off-line batch learning, human guidance, robot exploration and incremental on-line learning

Hand and Arm Gesture-based Human-Robot Interaction: A Review

The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and intuitive interaction, including verbal and nonverbal. As a prevalent nonverbally communication approach, hand and arm gesture communication happen ubiquitously in our daily life. A considerable amount of work on gesture-based HRI is scattered in various research domains. However, a systematic understanding of the works on gesture-based HRI is still lacking. This paper intends to provide a comprehensive review of gesture-based HRI and focus on the advanced finding in this area. Following the stimulus-organism-response framework, this review consists of: (i) Generation of human gesture(stimulus). (ii) Robot recognition of human gesture(organism). (iii) Robot reaction to human gesture(response). Besides, this review summarizes the research status of each element in the framework and analyze the advantages and disadvantages of related works. Toward the last part, this paper discusses the current research challenges on gesture-based HRI and provides possible future directions.Comment: 10 pages, 1 figure

PoinTap system: a human-robot interface to enable remotely controlled tasks

In the last decades, industrial manipulators have been used to speed up the production process and also to perform tasks that may put humans at risk. Typical interfaces employed to teleoperate the robot are not so intuitive to use. In fact, it takes longer to learn and properly control a robot whose interface is not easy to use, and it may also increase the operator’s stress and mental workload. In this paper, a touchscreen interface for supervised assembly tasks is proposed, using an LCD screen and a hand-tracking sensor. The aim is to provide an intuitive remote controlled system that enables a flexible execution of assembly tasks: high level decisions are entrusted to the human operator while the robot executes pick-and-place operations. A demonstrative industrial case study showcases the system potentiality: it was first tested in simulation, and then experimentally validated using a real robot, in a laboratory environment

Kindertivity: Usability and Communicability Strategies for Interactive Surfaces and Pre-Kindergarten Children

Tesis por compendio[ES] La tecnología multi-táctil se ha convertido en una de las más emergentes tras experimentar un enorme crecimiento desde sus pasos iniciales en los años ochenta hasta su amplia aceptación y uso en la actualidad. Por una parte, la tecnología multi-táctil se basa en el estilo de interacción de manipulación directa el cual proporciona a los usuarios la ventaja de ver los objetos y las acciones de interés, sustituir comandos escritos por acciones de señalado y, además, permite la realización de acciones rápidas, reversibles e incrementales evitando el uso de instrucciones complejas. Por otra parte, diversos trabajos han evaluado las virtudes derivadas de utilizar conjuntamente la manipulación directa con el toque directo mostrando que es posible evitar los problemas inherentes a otras técnicas de interacción como el ratón y el teclado. Por lo tanto, aprovechando la interacción natural e intuitiva proporcionada por la tecnología multi-táctil, ésta parece una forma ideal para dar soporte a la creación de escenarios educativos dirigidos a niños en edad preescolar. Sin embargo, a pesar de la existencia de diversos estudios que evalúan la idoneidad de utilizar el estilo de interacción de manipulación directa, existe una falta de trabajos abordando el uso dispositivos basados en superficies táctiles con niños de una temprana edad. Asimismo, en la actualidad existe una creciente tendencia a diseñar aplicaciones educativas y lúdicas dirigidas a niños en edad preescolar utilizando dispositivos multi-táctiles como los teléfonos inteligentes o las tabletas. Además, diversos informes señalan que los niños son usuarios frecuentes de este tipo de dispositivos y los utilizan incluso antes de ser capaces de hablar. Sin embargo, a pesar de este crecimiento en el uso de la tecnología multi-táctil y su aparente idoneidad para ser utilizado en el desarrollo de aplicaciones educativas para niños en edad preescolar, no existen unas interacciones universales y estandarizadas para preescolares a la hora de utilizar dispositivos táctiles ya que habitualmente sólo se utilizan dos gestos básicos (básicamente, el toque con un dedo para seleccionar y el arrastre con un dedo para el movimiento). Por lo tanto, existe una clara necesidad de llevar a cabo estudios empíricos para contribuir y avanzar en el diseño de aplicaciones que den un soporte adecuado y encaje con las habilidades de los niños en su temprano desarrollo. Por tanto, esta tesis propone, diseña y evalúa diversas estrategias de usabilidad y comunicabilidad adaptadas a los niños en edad preescolar para establecer la base para el diseño y desarrollo de futuras aplicaciones basadas en dispositivos táctiles dirigidas a preescolares. Estas estrategias llevarán a la adecuada definición de guías de diseño que permitirán a los niños aprovechar al máximo la tecnología multi-táctil, harán posible el desarrollo de nuevas y atractivas aplicaciones y, eventualmente, también podrán ayudar al desarrollo cognitivo y motor de los niños.[CA] La tecnologia multi-tàctil s'ha convertit en una de les més emergents després d'experimentar un enorme creixement des dels seus passos inicials als anys vuitanta fins l'actualitat on es àmpliament acceptada i utilitzada. D'una banda, la tecnologia multi-tàctil es basa en l'estil d'interacció de manipulació directa, el qual proporciona als usuaris l'avantatge de veure els objectes i les accions d'interès, substituir comandos escrits per accions d'assenyalament i, a més, permet la realització d'accions, ràpides, reversibles i incrementals evitant l'ús d'instruccions complexes. D'altra banda, diversos treballs han avaluat les virtuts derivades d'utilitzar conjuntament la manipulació directa amb el toc directe mostrant que és possible evitar els problemes inherents a altres tècniques d'interacció com el ratolí i el teclat. Per tant, aprofitant la interacció natural i intuïtiva proporcionada per la tecnologia multi-tàctil, aquesta sembla una forma ideal per donar suport a la creació d'escenaris educatius per a xiquets en edat preescolar. No obstant això, malgrat l'existència de diversos estudis que avaluen la idoneïtat d'utilitzar l'estil d'interacció de manipulació directa, existeix una manca de treballs abordant l'ús de dispositius basats en superfícies tàctils amb xiquets d'edat primerenca. Així mateix, en l'actualitat existeix una creixent tendència a dissenyar aplicacions educatives i lúdiques dirigides a xiquets en edat preescolar utilitzant dispositius tàctils com els telèfons intel¿ligents o les tauletes. A més, diversos informes assenyalen que els xiquets són usuaris freqüents d'aquests tipus de dispositius i els utilitzen fins i tot abans de ser capaços de parlar. Malgrat aquest creixement en l'ús de la tecnologia multi-tàctil i la seua aparent idoneïtat per a ser utilitzada en el desenvolupament d'aplicacions educatives per a xiquets en edat preescolar, no existeixen unes interaccions universals i estandarditzades per a preescolars a l'hora d'utilitzar dispositius tàctils ja que habitualment només s'utilitzen dos gestos bàsics (bàsicament, el toc amb un dit per a seleccionar i l'arrossegament amb un dit per al moviment). Per tant, hi ha una clara necessitat de dur a terme estudis empírics per a contribuir i avançar en el disseny d'aplicacions que donen un suport adequat i s'ajusten amb les habilitats dels xiquets en el seu primerenc desenvolupament. Per tant, la tesi proposa, dissenya i avalua diverses estratègies de usabilitat i comunicabilitat adaptades als xiquets en edat preescolar per tal d'establir la base per al disseny i desenvolupament de futures aplicacions basades en dispositius tàctils dirigides a preescolars. Aquestes estratègies portaran a l'adequada definició de guies de disseny que permetran als xiquets aprofitar al màxim la tecnologia multi-tàctil, faran possible el desenvolupament de noves i atractives aplicacions i, eventualment, podran també ajudar al desenvolupament cognitiu i motor dels xiquets.[EN] Multi-touch technology has become one of the most emergent technologies and has had an enormous growth since its initial steps in the eighties to be widespread accepted and used in the present. On the one hand, multi-touch technology relies on the direct manipulation interaction style which gives users the advantage to view the objects and actions of interest, replace typed commands by pointing actions and to perform rapid, reversible and incremental actions avoiding using complex instructions. On the other hand, several works have evaluated the virtues when joining direct manipulation with direct-touching showing that it solves the problems inherent in other interaction devices, such as those involving mouse or keyboard. Hence, taking advantage of the intuitive and natural interaction provided by multi-touch technology it seems an ideal way to support educational scenarios targeted to kindergarten children. Although several works have assessed the suitability of using the direct manipulation style with children, there is a lack of works addressing the use of touchscreen devices by this specific type of users. Moreover, there is a growing trend of designing educational and playful applications targeted to kindergarten children based on touchscreen devices such as smartphones and tablets. In addition, several reports point out that children use touchscreen devices even before they are able to speak and they are frequent users of devices such as smartphones and tablets. However, despite this growth in the use of multi-touch technology by children and its apparent suitability to be used to develop applications targeted to young children, there is a lack of standardized and universally accepted interactions for young children when using touchscreen devices since only two basic gestures are commonly used (basically, consisting of only one-finger touch for selection and one-finger drag for movement). Hence, there is a need of carrying out empirical studies to help and advance in the design of applications that adequately support and fit with children's development and skills. Therefore, this thesis proposes, designs and evaluates several usability and communicability strategies tailored to children in their early development stage to establish the design and development of future applications targeted to kindergarten children. These strategies will lead to define appropriate design strategies that enable infants to take full advantage of multi-touch technology, would make it possible to develop attractive new applications and, eventually, could also aid children's cognitive and motor development.Nácher Soler, VE. (2019). Kindertivity: Usability and Communicability Strategies for Interactive Surfaces and Pre-Kindergarten Children [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/116833TESISCompendi

Exploring visual prompts for communicating directional awareness to kindergarten children

[EN] Although a myriad of educational applications using tablets and multi-touch technology for kindergarten children have been developed in the last decade, most of these applications do not fully exploit multi-touch technology since the game world used is limited to the screen only. Considering a larger digital space in tablet-based educational scenarios would be beneficial since it would enable the design of engaging activities driven by curiosity, exploration, discovery and decisions on where the next action is situated in the digital virtual space by directional awareness. This paper therefore investigates kindergarten children's abilities to use a virtual world beyond the screen and evaluates three different types of visual prompts for communicating directional awareness. The results obtained show, firstly, that these specific users are able to use the space beyond the screen boundaries and that the evaluated prompts can effectively communicate information to kindergarten children. The paper also makes a set of recommendations to help designers choose the appropriate type of prompt for their application requirements.This work received financial support from Spanish Ministry of Economy and Competitiveness and was funded by the European Development Regional Fund (EDRF-FEDER) in the project TIN2014-60077-R (SUPEREMOS). This work is also supported by a pre-doctoral fellowship within the FPU program from the Spanish Ministry of Education, Culture and Sports to V. Nacher (FPU14/00136) and from GVA (ACIF/2014/214) to F. Garcia-Sanjuan.Nácher-Soler, VE.; Jurdi, S.; Jaén Martínez, FJ.; García Sanjuan, F. (2019). Exploring visual prompts for communicating directional awareness to kindergarten children. International Journal of Human-Computer Studies. 126:14-25. https://doi.org/10.1016/j.ijhcs.2019.01.003S142512

Physical Telepresence: Shape Capture and Display for Embodied, Computer-mediated Remote Collaboration

We propose a new approach to Physical Telepresence, based on shared workspaces with the ability to capture and remotely render the shapes of people and objects. In this paper, we describe the concept of shape transmission, and propose interaction techniques to manipulate remote physical objects and physical renderings of shared digital content. We investigate how the representation of user's body parts can be altered to amplify their capabilities for teleoperation. We also describe the details of building and testing prototype Physical Telepresence workspaces based on shape displays. A preliminary evaluation shows how users are able to manipulate remote objects, and we report on our observations of several different manipulation techniques that highlight the expressive nature of our system.National Science Foundation (U.S.). Graduate Research Fellowship Program (Grant No. 1122374

Periscope: A Robotic Camera System to Support Remote Physical Collaboration

We investigate how robotic camera systems can offer new capabilities to computer-supported cooperative work through the design, development, and evaluation of a prototype system called Periscope. With Periscope, a local worker completes manipulation tasks with guidance from a remote helper who observes the workspace through a camera mounted on a semi-autonomous robotic arm that is co-located with the worker. Our key insight is that the helper, the worker, and the robot should all share responsibility of the camera view--an approach we call shared camera control. Using this approach, we present a set of modes that distribute the control of the camera between the human collaborators and the autonomous robot depending on task needs. We demonstrate the system's utility and the promise of shared camera control through a preliminary study where 12 dyads collaboratively worked on assembly tasks. Finally, we discuss design and research implications of our work for future robotic camera systems that facilitate remote collaboration.Comment: This is a pre-print of the article accepted for publication in PACM HCI and will be presented at CSCW 202

Virtual reality interfaces for seamless interaction with the physical reality

In recent years head-mounted displays (HMDs) for virtual reality (VR) have made the transition from research to consumer product, and are increasingly used for productive purposes such as 3D modeling in the automotive industry and teleconferencing. VR allows users to create and experience real-world like models of products; and enables users to have an immersive social interaction with distant colleagues. These solutions are a promising alternative to physical prototypes and meetings, as they require less investment in time and material. VR uses our visual dominance to deliver these experiences, making users believe that they are in another reality. However, while their mind is present in VR their body is in the physical reality. From the user’s perspective, this brings considerable uncertainty to the interaction. Currently, they are forced to take off their HMD in order to, for example, see who is observing them and to understand whether their physical integrity is at risk. This disrupts their interaction in VR, leading to a loss of presence – a main quality measure for the success of VR experiences. In this thesis, I address this uncertainty by developing interfaces that enable users to stay in VR while supporting their awareness of the physical reality. They maintain this awareness without having to take off the headset – which I refer to as seamless interaction with the physical reality. The overarching research vision that guides this thesis is, therefore, to reduce this disconnect between the virtual and physical reality. My research is motivated by a preliminary exploration of user uncertainty towards using VR in co-located, public places. This exploration revealed three main foci: (a) security and privacy, (b) communication with physical collaborators, and (c) managing presence in both the physical and virtual reality. Each theme represents a section in my dissertation, in which I identify central challenges and give directions towards overcoming them as have emerged from the work presented here. First, I investigate security and privacy in co-located situations by revealing to what extent bystanders are able to observe general tasks. In this context, I explicitly investigate the security considerations of authentication mechanisms. I review how existing authentication mechanisms can be transferred to VR and present novel approaches that are more usable and secure than existing solutions from prior work. Second, to support communication between VR users and physical collaborators, I add to the field design implications for VR interactions that enable observers to choose opportune moments to interrupt HMD users. Moreover, I contribute methods for displaying interruptions in VR and discuss their effect on presence and performance. I also found that different virtual presentations of co-located collaborators have an effect on social presence, performance and trust. Third, I close my thesis by investigating methods to manage presence in both the physical and virtual realities. I propose systems and interfaces for transitioning between them that empower users to decide how much they want to be aware of the other reality. Finally, I discuss the opportunity to systematically allocate senses to these two realities: the visual one for VR and the auditory and haptic one for the physical reality. Moreover, I provide specific design guidelines on how to use these findings to alert VR users about physical borders and obstacles.In den letzten Jahren haben Head-Mounted-Displays (HMDs) für virtuelle Realität (VR) den Übergang von der Forschung zum Konsumprodukt vollzogen und werden zunehmend für produktive Zwecke, wie 3D-Modellierung in der Automobilindustrie oder Telekonferenzen, eingesetzt. VR ermöglicht es den Benutzern, schnell und kostengünstig, Prototypen zu erstellen und erlaubt eine immersive soziale Interaktion mit entfernten Kollegen. VR nutzt unsere visuelle Dominanz, um diese Erfahrungen zu vermitteln und gibt Benutzern das Gefühl sich in einer anderen Realität zu befinden. Während der Nutzer jedoch in der virtuellen Realität mental präsent ist, befindet sich der Körper weiterhin in der physischen Realität. Aus der Perspektive des Benutzers bringt dies erhebliche Unsicherheit in die Nutzung von HMDs. Aktuell sind Nutzer gezwungen, ihr HMD abzunehmen, um zu sehen, wer sie beobachtet und zu verstehen, ob ihr körperliches Wohlbefinden gefährdet ist. Dadurch wird ihre Interaktion in der VR gestört, was zu einem Verlust der Präsenz führt - ein Hauptqualitätsmaß für den Erfolg von VR-Erfahrungen. In dieser Arbeit befasse ich mich mit dieser Unsicherheit, indem ich Schnittstellen entwickle, die es den Nutzern ermöglichen, in VR zu bleiben und gleichzeitig unterstützen sie die Wahrnehmung für die physische Realität. Sie behalten diese Wahrnehmung für die physische Realität bei, ohne das Headset abnehmen zu müssen - was ich als nahtlose Interaktion mit der physischen Realität bezeichne. Daher ist eine übergeordenete Vision von meiner Forschung diese Trennung von virtueller und physicher Realität zu reduzieren. Meine Forschung basiert auf einer einleitenden Untersuchung, die sich mit der Unsicherheit der Nutzer gegenüber der Verwendung von VR an öffentlichen, geteilten Orten befasst. Im Kontext meiner Arbeit werden Räume oder Flächen, die mit anderen ortsgleichen Menschen geteilt werden, als geteilte Orte bezeichnet. Diese Untersuchung ergab drei Hauptschwerpunkte: (1) Sicherheit und Privatsphäre, (2) Kommunikation mit physischen Kollaborateuren, und (3) Umgang mit der Präsenz, sowohl in der physischen als auch in der virtuellen Realität. Jedes Thema stellt einen Fokus in meiner Dissertation dar, in dem ich zentrale Herausforderungen identifiziere und Lösungsansätze vorstelle. Erstens, untersuche ich Sicherheit und Privatsphäre an öffentlichen, geteilten Orten, indem ich aufdecke, inwieweit Umstehende in der Lage sind, allgemeine Aufgaben zu beobachten. In diesem Zusammenhang untersuche ich explizit die Gestaltung von Authentifizierungsmechanismen. Ich untersuche, wie bestehende Authentifizierungsmechanismen auf VR übertragen werden können, und stelle neue Ansätze vor, die nutzbar und sicher sind. Zweitens, um die Kommunikation zwischen HMD-Nutzern und Umstehenden zu unterstützen, erweitere ich das Forschungsfeld um VR-Interaktionen, die es Beobachtern ermöglichen, günstige Momente für die Unterbrechung von HMD-Nutzern zu wählen. Darüber hinaus steuere ich Methoden zur Darstellung von Unterbrechungen in VR bei und diskutiere ihre Auswirkungen auf Präsenz und Leistung von Nutzern. Meine Arbeit brachte auch hervor, dass verschiedene virtuelle Präsentationen von ortsgleichen Kollaborateuren einen Effekt auf die soziale Präsenz, Leistung und Vertrauen haben. Drittens, schließe ich meine Dissertation mit der Untersuchung von Methoden zur Verwaltung der Präsenz, sowohl in der physischen als auch in der virtuellen Realität ab. Ich schlage Systeme und Schnittstellen für den Übergang zwischen den Realitäten vor, die die Benutzer in die Lage versetzen zu entscheiden, inwieweit sie sich der anderen Realität bewusst sein wollen. Schließlich diskutiere ich die Möglichkeit, diesen beiden Realitäten systematisch Sinne zuzuordnen: die visuelle für VR und die auditive und haptische für die physische Realität. Darüber hinaus stelle ich spezifische Design-Richtlinien zur Verfügung, wie diese Erkenntnisse genutzt werden können, um VR-Anwender auf physische Grenzen und Hindernisse aufmerksam zu machen