Considerations for End-User Development in the Caregiving Domain

As service robots become more capable of autonomous behaviors, it becomes increasingly important to consider how people communicate with a robot what task it should perform and how to do the task. Accordingly, there has been a rise in attention to end-user development (EUD) interfaces, which enable non-roboticist end users to specify tasks for autonomous robots to perform. However, state-of-the-art EUD interfaces are often constrained through simplified domains or restrictive end-user interaction. Motivated by prior qualitative design work that explores how to integrate a care robot in an assisted living community, we discuss the challenges of EUD in this complex domain. One set of challenges stems from different user-facing representations, e.g., certain tasks may lend themselves better to rule-based trigger-action representations, whereas other tasks may be easier to specify via sequences of actions. The other stems from considering the needs of multiple stakeholders, e.g., caregivers and residents of the facility may all create tasks for the robot, but the robot may not be able to share information about all tasks with all residents due to privacy concerns. We present scenarios that illustrate these challenges and also discuss possible solutions.Comment: Presented at AAAI Fall Symposium Series 2023 UR-RA

The Human-Robot Interaction Operating System

In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API

End-User Development for Human-Robot Interaction

End-user development (EUD) represents a key step towards making robotics accessible for experts and nonexperts alike. Within academia, researchers investigate novel ways that EUD tools can capture, represent, visualize, analyze, and test developer intent. At the same time, industry researchers increasingly build and ship programming tools that enable customers to interact with their robots. However, despite this growing interest, the role of EUD within HRI is not well defined. EUD struggles to situate itself within a growing array of alternative approaches to application development, such as robot learning and teleoperation. EUD further struggles due to the wide range of individuals who can be considered end users, such as independent third-party application developers, consumers, hobbyists, or even employees of the robot manufacturer. Key questions remain such as how EUD is justified over alternate approaches to application development, which contexts EUD is most suited for, who the target users of an EUD system are, and where interaction between a human and a robot takes place, amongst many other questions. We seek to address these challenges and questions by organizing the first End-User Development for Human-Robot Interaction (EUD4HRI) workshop at the 2024 International Conference of Human-Robot Interaction. The workshop will bring together researchers with a wide range of expertise across academia and industry, spanning perspectives from multiple subfields of robotics, with the primary goal being a consensus of perspectives about the role that EUD must play within human-robot interaction.Comment: Accepted at Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI '24 Companion), March 11--14, 2024, Boulder, CO, US

Coordinate Frames in Robotic Teleoperation

Abstract—An important mode of human-robot interaction is teleoperation, in which a human operator directly controls a robot via hardware such as a joystick or mouse. Such control is not always easy, however, as the viewpoint of the human, the alignment of the input device, and the local coordinate frame of the robot are rarely all aligned. These discrepancies force the user to reconcile the involved coordinate frames during teleoperation. Therefore, the choice of coordinate frames is critical since an unintuitive coordinate frame mapping will likely lead to higher mental workload and reduced efficiency. We discuss this concern, describe the various difficulties involved with natural remote teleoperation of a robot, and report experiments that demonstrate the effects of using different frames of reference on task performance and user mental workload. I

Homogeneity and Heterogeneity as Situational Properties: Producing – and Moving Beyond? – Race in Post-Genomic Science

In this article, we explore current thinking and practices around the logics of difference in gene–environment interaction research in the post-genomic era. We find that scientists conducting gene–environment interaction research continue to invoke well-worn notions of racial difference and diversity, but use them strategically to try to examine other kinds of etiologically significant differences among populations. Scientists do this by seeing populations not as inherently homogeneous or heterogeneous, but rather by actively working to produce homogeneity along some dimensions and heterogeneity along others in their study populations. Thus we argue that homogeneity and heterogeneity are situational properties – properties that scientists seek to achieve in their study populations, the available data, and other aspects of the research situation they are confronting, and then leverage to advance post-genomic science. Pointing to the situatedness of homogeneity and heterogeneity in gene–environment interaction research underscores the work that these properties do and the contingencies that shape decisions about research procedures. Through a focus on the situational production of homogeneity and heterogeneity more broadly, we find that gene–environment interaction research attempts to shift the logic of difference from solely racial terms as explanatory ends unto themselves, to racial and other dimensions of difference that may be important clues to the causes of complex diseases

A Preliminary Study of Peer-to-Peer Human-Robot Interaction

The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance

Investigation of Relationships between Urinary Biomarkers of Phytoestrogens, Phthalates, and Phenols and Pubertal Stages in Girls

BackgroundHormonally active environmental agents may alter the course of pubertal development in girls, which is controlled by steroids and gonadotropins.ObjectivesWe investigated associations of concurrent exposures from three chemical classes (phenols, phthalates, and phytoestrogens) with pubertal stages in a multiethnic longitudinal study of 1,151 girls from New York City, New York, greater Cincinnati, Ohio, and northern California who were 6-8 years of age at enrollment (2004-2007).MethodsWe measured urinary exposure biomarkers at visit 1 and examined associations with breast and pubic hair development (present or absent, assessed 1 year later) using multivariate adjusted prevalence ratios (PR) and 95% confidence intervals (CIs). Modification of biomarker associations by age-specific body mass index percentile (BMI%) was investigated, because adipose tissue is a source of peripubertal hormones.ResultsBreast development was present in 30% of girls, and 22% had pubic hair. High-molecular-weight phthalate (high MWP) metabolites were weakly associated with pubic hair development [adjusted PR, 0.94 (95% CI, 0.88-1.00), fifth vs. first quintile]. Small inverse associations were seen for daidzein with breast stage and for triclosan and high MWP with pubic hair stage; a positive trend was observed for low-molecular-weight phthalate biomarkers with breast and pubic hair development. Enterolactone attenuated BMI associations with breast development. In the first enterolactone quintile, for the association of high BMI with any development, the PR was 1.34 (95% CI, 1.23-1.45 vs. low BMI). There was no BMI association in the fifth, highest quintile of enterolactone.ConclusionsWeak hormonally active xenobiotic agents investigated in this study had small associations with pubertal development, mainly among those agents detected at highest concentrations

Clinical Sequencing Exploratory Research Consortium: Accelerating Evidence-Based Practice of Genomic Medicine

Despite rapid technical progress and demonstrable effectiveness for some types of diagnosis and therapy, much remains to be learned about clinical genome and exome sequencing (CGES) and its role within the practice of medicine. The Clinical Sequencing Exploratory Research (CSER) consortium includes 18 extramural research projects, one National Human Genome Research Institute (NHGRI) intramural project, and a coordinating center funded by the NHGRI and National Cancer Institute. The consortium is exploring analytic and clinical validity and utility, as well as the ethical, legal, and social implications of sequencing via multidisciplinary approaches; it has thus far recruited 5,577 participants across a spectrum of symptomatic and healthy children and adults by utilizing both germline and cancer sequencing. The CSER consortium is analyzing data and creating publically available procedures and tools related to participant preferences and consent, variant classification, disclosure and management of primary and secondary findings, health outcomes, and integration with electronic health records. Future research directions will refine measures of clinical utility of CGES in both germline and somatic testing, evaluate the use of CGES for screening in healthy individuals, explore the penetrance of pathogenic variants through extensive phenotyping, reduce discordances in public databases of genes and variants, examine social and ethnic disparities in the provision of genomics services, explore regulatory issues, and estimate the value and downstream costs of sequencing. The CSER consortium has established a shared community of research sites by using diverse approaches to pursue the evidence-based development of best practices in genomic medicine