Perception-intention-action cycle as a human acceptable way for improving human-robot collaborative tasks

© ACM 2023. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in HRI '23: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, https://doi.org/10.1145/3568294.3580149.In Human-Robot Collaboration (HRC) tasks, the classical Perception-Action cycle can not fully explain the collaborative behaviour of the human-robot pair until it is extended to Perception-Intention-Action (PIA) cycle, giving to the human's intention a key role at the same level of the robot's perception and not as a subblock of this. Although part of the human's intention can be perceived or inferred by the other agent, this is prone to misunderstandings so the true intention has to be explicitly informed in some cases to fulfill the task. Here, we explore both types of intention and we combine them with the robot's perception through the concept of Situation Awareness (SA). We validate the PIA cycle and its acceptance by the user with a preliminary experiment in an object transportation task showing that its usage can increase trust in the robot.Peer ReviewedPostprint (author's final draft

Human-robot collaborative multi-agent path planning using Monte Carlo tree search and social reward sources

© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThe collaboration between humans and robots in an object search task requires the achievement of shared plans obtained from communicating and negotiating. In this work, we assume that the robot computes, as a first step, a multiagent plan for both itself and the human. Then, both plans are submitted to human scrutiny, who either agrees or modifies it forcing the robot to adapt its own restrictions or preferences. This process is repeated along the search task as many times as required by the human. Our planner is based on a decentralized variant of Monte Carlo Tree Search (MCTS), with one robot and one human as agents. Moreover, our algorithm allows the robot and the human to optimize their own actions by maintaining a probability distribution over the plans in a joint action space. The method allows an objective function definition over action sequences, it assumes intermittent communication, it is anytime and suitable for on-line replanning. To test it, we have developed a human-robot communication mobile phone interface. Validation is provided by real-life search experiments of a Parcheesi token in an urban space, including also an acceptability study.Work supported under the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016- 0656), ROCOTRANSP project (PID2019-106702RB-C21 / AEI / 10.13039/501100011033), TERRINet (H2020-INFRAIA-2017-1-two-stage730994) and AI4EU (H2020-ICT-2018-2-825619)Peer ReviewedPostprint (published version

Shared task representation for human–robot collaborative navigation: the collaborative search case

© The Author(s) 2023Recent research in Human Robot Collaboration (HRC) has spread and specialised in many sub-fields. Many show considerable advances, but the human–robot collaborative navigation (HRCN) field seems to be stuck focusing on implicit collaboration settings, on hypothetical or simulated task allocation problems, on shared autonomy or on having the human as a manager. This work takes a step forward by presenting an end-to-end system capable of handling real-world human–robot collaborative navigation tasks. This system makes use of the Social Reward Sources model (SRS), a knowledge representation to simultaneously tackle task allocation and path planning, proposes a multi-agent Monte Carlo Tree Search (MCTS) planner for human–robot teams, presents the collaborative search as a testbed for HRCN and studies the usage of smartphones for communication in this setting. The detailed experiments prove the viability of the approach, explore collaboration roles adopted by the human–robot team and test the acceptability and utility of different communication interface designs.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. This work was supported under the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and ROCOTRANSP project (PID2019- 106702RB-C21 / AEI / 10.13039/501100011033), the European research grant TERRINet (H2020-INFRAIA-2017-1-730994) and by JST Moonshot R & D Grant Number JPMJMS2011-85.Peer ReviewedPostprint (published version

Model-Assisted Bird Monitoring Based on Remotely Sensed Ecosystem Functioning and Atlas Data

Urgent action needs to be taken to halt global biodiversity crisis. To be effective in the implementation of such action, managers and policy-makers need updated information on the status and trends of biodiversity. Here, we test the ability of remotely sensed ecosystem functioning attributes (EFAs) to predict the distribution of 73 bird species with different life-history traits. We run ensemble species distribution models (SDMs) trained with bird atlas data and 12 EFAs describing different dimensions of carbon cycle and surface energy balance. Our ensemble SDMs—exclusively based on EFAs—hold a high predictive capacity across 71 target species (up to 0.94 and 0.79 of Area Under the ROC curve and true skill statistic (TSS)). Our results showed the life-history traits did not significantly affect SDM performance. Overall, minimum Enhanced Vegetation Index (EVI) and maximum Albedo values (descriptors of primary productivity and energy balance) were the most important predictors across our bird community. Our approach leverages the existing atlas data and provides an alternative method to monitor inter-annual bird habitat dynamics from space in the absence of long-term biodiversity monitoring schemes. This study illustrates the great potential that satellite remote sensing can contribute to the Aichi Biodiversity Targets and to the Essential Biodiversity Variables framework (EBV class “Species distribution”)Fieldwork campaigns were carried out within the project “Estudios sobre a biodiversidade do Macizo Central Galego. Lugar de Importancia Comunitaria” (PGIDT99PXI20002B) and “Caracterización de los vertebrados del LIC Macizo Central e Bidueiral de Montederramo”, code: 2008-CE227”, funded by SAYFOR S.L. This work also received funding from Xunta de Galicia through the grant to structure and consolidate competitive research groups of Galicia (ED431B 2018/36). A.R. was funded by the Xunta de Galicia, Spain (post-doctoral fellowship ED481B2016/084-0). S.A.-C. was financially supported by PORBIOTA—E-Infraestrutura Portuguesa de Informação e Investigação em Biodiversidade (POCI-01-0145-FEDER-022127)S

IVO Robot: a new social robot for human-robot collaboration

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.We present a new social robot named IVO, a robot capable of collaborating with humans and solving different tasks. The robot is intended to cooperate and work with humans in a useful and socially acceptable manner to serve as a research platform for long-term Social Human-Robot Interaction. In this paper, we proceed to describe this new platform, its communication skills and the current capabilities the robot possesses, such as, handing over an object to or from a person or performing guiding tasks with a human through physical contact. We describe the social abilities of the IVO robot, furthermore, we present the experiments performed for each robot's capacity using its current version.Peer ReviewedPostprint (author's final draft

Role of age and comorbidities in mortality of patients with infective endocarditis

[Purpose]: The aim of this study was to analyse the characteristics of patients with IE in three groups of age and to assess the ability of age and the Charlson Comorbidity Index (CCI) to predict mortality. [Methods]: Prospective cohort study of all patients with IE included in the GAMES Spanish database between 2008 and 2015.Patients were stratified into three age groups:<65 years,65 to 80 years,and ≥ 80 years.The area under the receiver-operating characteristic (AUROC) curve was calculated to quantify the diagnostic accuracy of the CCI to predict mortality risk. [Results]: A total of 3120 patients with IE (1327 < 65 years;1291 65-80 years;502 ≥ 80 years) were enrolled.Fever and heart failure were the most common presentations of IE, with no differences among age groups.Patients ≥80 years who underwent surgery were significantly lower compared with other age groups (14.3%,65 years; 20.5%,65-79 years; 31.3%,≥80 years). In-hospital mortality was lower in the <65-year group (20.3%,<65 years;30.1%,65-79 years;34.7%,≥80 years;p < 0.001) as well as 1-year mortality (3.2%, <65 years; 5.5%, 65-80 years;7.6%,≥80 years; p = 0.003).Independent predictors of mortality were age ≥ 80 years (hazard ratio [HR]:2.78;95% confidence interval [CI]:2.32–3.34), CCI ≥ 3 (HR:1.62; 95% CI:1.39–1.88),and non-performed surgery (HR:1.64;95% CI:11.16–1.58).When the three age groups were compared,the AUROC curve for CCI was significantly larger for patients aged <65 years(p < 0.001) for both in-hospital and 1-year mortality. [Conclusion]: There were no differences in the clinical presentation of IE between the groups. Age ≥ 80 years, high comorbidity (measured by CCI),and non-performance of surgery were independent predictors of mortality in patients with IE.CCI could help to identify those patients with IE and surgical indication who present a lower risk of in-hospital and 1-year mortality after surgery, especially in the <65-year group

Circulating carotenoids are associated with favorable lipid and fatty acid profiles in an older population at high cardiovascular risk

Carotenoid intake has been reported to be associated with improved cardiovascular health, but there is little information on actual plasma concentrations of these compounds as biomarkers of cardiometabolic risk. The objective was to investigate the association between circulating plasma carotenoids and different cardiometabolic risk factors and the plasma fatty acid profile. This is a cross-sectional evaluation of baseline data conducted in a subcohort (106 women and 124 men) of an ongoing multi-factorial lifestyle trial for primary cardiovascular prevention. Plasma concentrations of carotenoids were quantified by liquid chromatography coupled to mass spectrometry. The associations between carotenoid concentrations and cardiometabolic risk factors were assessed using regression models adapted for interval-censored variables. Carotenoid concentrations were cross-sectionally inversely associated with serum triglyceride concentrations [-2.79 mg/dl (95% CI: -4.25, -1.34) and -5.15 mg/dl (95% CI: -7.38, -2.93), p-values = 0.0002 and <0.00001 in women and men, respectively], lower levels of plasma saturated fatty acids [-0.09% (95% CI: -0.14, -0.03) and -0.15 % (95% CI: -0.23, -0.08), p-values = 0.001 and 0.0001 in women and men, respectively], and higher levels of plasma polyunsaturated fatty acids [(0.12 % (95% CI: -0.01, 0.25) and 0.39 % (95% CI: 0.19, 0.59), p-values = 0.065 and 0.0001 in women and men, respectively] in the whole population. Plasma carotenoid concentrations were also associated with higher plasma HDL-cholesterol in women [0.47 mg/dl (95% CI: 0.23, 0.72), p-value: 0.0002], and lower fasting plasma glucose in men [-1.35 mg/dl (95% CI: -2.12, -0.59), p-value: 0.001]. Keywords: Mediterranean diet; PREDIMED-plus study; cardiovascular health; liquid chromatography; mass spectrometry; plasma carotenoids

Treatment with tocilizumab or corticosteroids for COVID-19 patients with hyperinflammatory state: a multicentre cohort study (SAM-COVID-19)

Objectives: The objective of this study was to estimate the association between tocilizumab or corticosteroids and the risk of intubation or death in patients with coronavirus disease 19 (COVID-19) with a hyperinflammatory state according to clinical and laboratory parameters. Methods: A cohort study was performed in 60 Spanish hospitals including 778 patients with COVID-19 and clinical and laboratory data indicative of a hyperinflammatory state. Treatment was mainly with tocilizumab, an intermediate-high dose of corticosteroids (IHDC), a pulse dose of corticosteroids (PDC), combination therapy, or no treatment. Primary outcome was intubation or death; follow-up was 21 days. Propensity score-adjusted estimations using Cox regression (logistic regression if needed) were calculated. Propensity scores were used as confounders, matching variables and for the inverse probability of treatment weights (IPTWs). Results: In all, 88, 117, 78 and 151 patients treated with tocilizumab, IHDC, PDC, and combination therapy, respectively, were compared with 344 untreated patients. The primary endpoint occurred in 10 (11.4%), 27 (23.1%), 12 (15.4%), 40 (25.6%) and 69 (21.1%), respectively. The IPTW-based hazard ratios (odds ratio for combination therapy) for the primary endpoint were 0.32 (95%CI 0.22-0.47; p < 0.001) for tocilizumab, 0.82 (0.71-1.30; p 0.82) for IHDC, 0.61 (0.43-0.86; p 0.006) for PDC, and 1.17 (0.86-1.58; p 0.30) for combination therapy. Other applications of the propensity score provided similar results, but were not significant for PDC. Tocilizumab was also associated with lower hazard of death alone in IPTW analysis (0.07; 0.02-0.17; p < 0.001). Conclusions: Tocilizumab might be useful in COVID-19 patients with a hyperinflammatory state and should be prioritized for randomized trials in this situatio