5 research outputs found
A dynamic field approach to goal inference and error monitoring for human-robot interaction
In this paper we present results of our ongoing research on non-verbal human-robot interaction that is heavily inspired by recent experimental findings about the neuro-cognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predicted outcome of the user’s motor behavior. The architecture
is formalized by a coupled system of dynamic neural fields representing
a distributed network of local but connected neural populations with specific functionalities. We validate the approach in a task in which a robot and a human user jointly construct a toy ’vehicle’. We show that the context-dependent mapping from action observation onto appropriate complementary actions allows the robot to cope with dynamically changing joint action situations. This includes a basic form of error monitoring and compensation.Fundação para a Ciência e a Tecnologia (FCT) - POCI/V.5/A0119/2005, CONC-REEQ/17/200
A dynamic field approach to goal inference, error detection and anticipatory action selection in human-robot collaboration
In this chapter we present results of our ongoing research on efficient and fluent human-robot collaboration that is heavily inspired by recent experimental findings about the neurocognitive mechanisms supporting joint action in humans. The robot control architecture implements the joint coordination of actions and goals as a dynamic process that integrates contextual cues, shared task knowledge and the predicted outcome of the user's motor behavior. The architecture is formalized as a coupled system of dynamic neural fields representing a distributed network of local but connected neural populations with specific functionalities. We validate the approach in a task in which a robot and a human user jointly construct a toy 'vehicle'. We show that the context-dependent mapping from action observation onto appropriate complementary actions allows the robot to cope with dynamically changing joint action situations. More specifically, the results illustrate crucial cognitive capacities for efficient and successful human-robot collaboration such as goal inference, error detection and anticipatory action selection.FCT grants POCI/V.5/A0119/2005 and CONC-REEQ/17/2001 / fp6-IST2 EU-IP Project JAST (proj. nr. 003747
Combining goal inference and natural-language dialogue for human-robot joint action
We demonstrate how combining the reasoning components
from two existing systems designed for human-robot joint action
produces an integrated system with greater capabilities than either
of the individual systems. One of the systems supports primarily
non-verbal interaction and uses dynamic neural fields to infer the
user’s goals and to suggest appropriate system responses; the other
emphasises natural-language interaction and uses a dialogue manager
to process user input and select appropriate system responses.
Combining these two methods of reasoning results in a robot that is
able to coordinate its actions with those of the user while employing
a wide range of verbal and non-verbal communicative actions.(undefined
The power of prediction: robots that read intentions
Humans are experts in cooperating in a smooth
and proactive manner. Action and intention understanding are
critical components of efficient joint action. In the context of the
EU Integrated Project JAST [16] we have developed an
anthropomorphic robot endowed with these cognitive
capacities. This project and respective robot (ARoS) is the focus
of the video. More specifically, the results illustrate crucial
cognitive capacities for efficient and successful human-robot
collaboration such as goal inference, error detection and
anticipatory action selection. Results were considered one of the
ICT "success stories"JAST: Joint-Action Science and Technology” (Ref. IST-2-003747-IP)FCT FCOMP-01-0124-FEDER-022674”