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102
A Survey of Robot Learning from Demonstration
"... We present a comprehensive survey of robot Learning from Demonstration (LfD), a technique that develops policies from example state to action mappings. We introduce the LfD design choices in terms of demonstrator, problem space, policy derivation and performance, and contribute the foundations for a ..."
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We present a comprehensive survey of robot Learning from Demonstration (LfD), a technique that develops policies from example state to action mappings. We introduce the LfD design choices in terms of demonstrator, problem space, policy derivation and performance, and contribute the foundations for a structure in which to categorize LfD research. Specifically, we analyze and categorize the multiple ways in which examples are gathered, ranging from teleoperation to imitation, as well as the various techniques for policy derivation, including matching functions, dynamics models and plans. To conclude we discuss LfD limitations and related promising areas for future research.
What is a human? Toward psychological benchmarks in the field of human-robot interaction. Interaction Studies: Social Behaviour and Communication in
- Biological and Artificial Systems
, 2007
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R.: A meta-analysis of factors affecting trust in human-robot interaction. Human Factors: The Journal of the Human Factors and Ergonomics Society 53(5
, 2011
"... Objective: We evaluate and quantify the effects of human, robot, and environmental factors on perceived trust in human-robot interaction (HRI). Background: To date, reviews of trust in HRI have been qualitative or descriptive. Our quantitative review provides a fundamental empirical foundation to ad ..."
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Objective: We evaluate and quantify the effects of human, robot, and environmental factors on perceived trust in human-robot interaction (HRI). Background: To date, reviews of trust in HRI have been qualitative or descriptive. Our quantitative review provides a fundamental empirical foundation to advance both theory and practice. Method: Meta-analytic methods were applied to the available literature on trust and HRI. A total of 29 empirical studies were collected, of which 10 met the selection criteria for correlational analysis and 11 for experimental analysis. These studies provided 69 correlational and 47 experimental effect sizes. Results: The overall correlational effect size for trust was r – = +0.26, with an experimental effect size of d – = +0.71. The effects of human, robot, and environmental characteristics were examined with an especial evaluation of the robot dimensions of performance and attribute-based factors. The robot performance and attributes were the largest contributors to the development of trust in HRI. Environmental factors played only a moderate role. Conclusion: Factors related to the robot itself, specifically, its performance, had the greatest current association with trust, and environmental factors were moderately associated. There was little evidence for effects of human-related factors. Application: The findings provide quantitative estimates of human, robot, and environmental factors influencing HRI trust. Specifically, the current summary provides effect size estimates that are useful in establishing design and training guidelines with reference to robot-related factors of HRI trust. Furthermore, results indicate that improper trust calibration may be mitigated by the manipulation of robot design. However, many future research needs are identified.
Assessing the Scalability of a Multiple Robot Interface
- Proceedings of the 2nd ACM/IEEE International Conference on HumanRobotic Interaction
, 2007
"... As multiple robot systems become more common, it is necessary to develop scalable human-robot interfaces that permit the inclusion of additional robots without reducing the overall system performance. Workload and situational awareness play key roles in determining the ratio of m operators to n robo ..."
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As multiple robot systems become more common, it is necessary to develop scalable human-robot interfaces that permit the inclusion of additional robots without reducing the overall system performance. Workload and situational awareness play key roles in determining the ratio of m operators to n robots. A scalable interface, where m is much smaller than n, will have to manage the operator’s workload and promote a high level of situation awareness. This work focused on the development of a scalable interface for a single human-multiple robot system. This interface introduces a relational “halo ” display that augments a camera view to promote situational awareness and the management of multiple robots by providing information regarding the robots’ relative locations with respect to a selected robot. An evaluation was conducted to determine the scalability of the interface focusing on the effects of increasing the number of robots on workload, situation awareness, and robot usage. Twenty participants completed two bomb defusing tasks: one employing six robots, the other nine. The results indicated that increasing the number of robots increased overall workload and the operator’s situation awareness. Categories and Subject Descriptors H.5.2 [Information interfaces and presentation]: User Interfaces – evaluation/methodology, theory and method, user-centered designs.
: Scientific Competition and Benchmarking for Domestic Service Robots
, 2009
"... Being part of the RoboCup initiative, the ROBOCUP@HOME league targets the development and deployment of autonomous service and assistive robot technology being essential for future personal domestic applications. The domain of domestic service and assistive robotics implicates a wide range of possib ..."
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Being part of the RoboCup initiative, the ROBOCUP@HOME league targets the development and deployment of autonomous service and assistive robot technology being essential for future personal domestic applications. The domain of domestic service and assistive robotics implicates a wide range of possible problems. The primary reasons for this include the large amount of uncertainty in the dynamic and non-standardized environments of the real world, and the related human interaction. Furthermore, the application orientation requires a large effort towards high level integration combined with a demand for general robustness of the systems. This article details the need for interdisciplinary community effort to iteratively identify related problems, to define benchmarks, to test and, finally, to solve the problems. The concepts and the implementation of the ROBOCUP@HOME initiative as a combination of scientific exchange and competition is presented as an efficient method to accelerate and focus technological and scientific progress in the domain of domestic service robots. Finally, the progress in terms of performance increase in the benchmarks and technological advancements is evaluated and discussed.
A Spotlight on Security and Privacy Risks with Future Household Robots: Attacks and Lessons
"... Future homes will be populated with large numbers of robots with diverse functionalities, ranging from chore robots to elder care robots to entertainment robots. While household robots will offer numerous benefits, they also have the potential to introduce new security and privacy vulnerabilities in ..."
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Future homes will be populated with large numbers of robots with diverse functionalities, ranging from chore robots to elder care robots to entertainment robots. While household robots will offer numerous benefits, they also have the potential to introduce new security and privacy vulnerabilities into the home. Our research consists of three parts. First, to serve as a foundation for our study, we experimentally analyze three of today’s household robots for security and privacy vulnerabilities: the WowWee Rovio, the Erector Spykee, and the WowWee RoboSapien V2. Second, we synthesize the results of our experimental analyses and identify key lessons and challenges for securing future household robots. Finally, we use our experiments and lessons learned to construct a set of design questions aimed at facilitating the future development of household robots that are secure and preserve their users ’ privacy. Author Keywords Cyber-physical systems, domestic robots, household robots,
Housewives or Technophiles? Understanding Domestic Robot Owners
- Proceedings of the 3 rd ACM/IEEE International Conference on Human Robot Interaction (HRI 2008
, 2008
"... Despite the growing body of Human-Robot Interaction (HRI) research focused on domestic robots, surprisingly little is known about the demographic profile of robot owners and their influence on usage patterns. In this paper, we present the results of a survey of 379 iRobot’s Roomba ™ owners, that ide ..."
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Despite the growing body of Human-Robot Interaction (HRI) research focused on domestic robots, surprisingly little is known about the demographic profile of robot owners and their influence on usage patterns. In this paper, we present the results of a survey of 379 iRobot’s Roomba ™ owners, that identified their demographic and usage trends. The outcome of the survey suggests that Roomba users are equally likely to be men or women, and they tend to be younger with high levels of education and technical backgrounds. Their adoption and use patterns illustrate the important role that gift exchange plays in adoption, and how the robot changes cleaning routines and creates noncleaning activities. More generally, we argue that domestic robot adoption is growing, and suggest some of the factors that lead to a positive experience.
The Oz of Wizard: Simulating the Human for Interaction Research
"... The Wizard of Oz experiment method has a long tradition of acceptance and use within the field of human-robot interaction. The community has traditionally downplayed the importance of interaction evaluations run with the inverse model: the human simulated to evaluate robot behavior, or “Oz of Wizard ..."
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The Wizard of Oz experiment method has a long tradition of acceptance and use within the field of human-robot interaction. The community has traditionally downplayed the importance of interaction evaluations run with the inverse model: the human simulated to evaluate robot behavior, or “Oz of Wizard”. We argue that such studies play an important role in the field of human-robot interaction. We differentiate between methodologically rigorous human modeling and placeholder simulations using simplified human models. Guidelines are proposed for when Oz of Wizard results should be considered acceptable. This paper also describes a framework for describing the various permutations of Wizard and Oz states.
A survey of Tactile Human–Robot Interactions
"... This article appeared in a journal published by Elsevier. The attached copy is furnished to the author for internal non-commercial research and education use, including for instruction at the authors institution and sharing with colleagues. Other uses, including reproduction and distribution, or sel ..."
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Cited by 10 (4 self)
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This article appeared in a journal published by Elsevier. The attached copy is furnished to the author for internal non-commercial research and education use, including for instruction at the authors institution and sharing with colleagues. Other uses, including reproduction and distribution, or selling or licensing copies, or posting to personal, institutional or third party websites are prohibited. In most cases authors are permitted to post their version of the article (e.g. in Word or Tex form) to their personal website or institutional repository. Authors requiring further information regarding Elsevier’s archiving and manuscript policies are encouraged to visit: http://www.elsevier.com/copyright Author's personal copy
A pilot study on teleoperated mobile robots in home environments
- in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
, 2006
"... Abstract – Mobile robots operating in home environments must deal with constrained space and a great variety of obstacles and situations to handle. This article presents a pilot study aiming at identifying design specifications of a new user interface and robot specifications to improve efficiency a ..."
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Abstract – Mobile robots operating in home environments must deal with constrained space and a great variety of obstacles and situations to handle. This article presents a pilot study aiming at identifying design specifications of a new user interface and robot specifications to improve efficiency and security for novice teleoperators of a mobile robot used in home environments. This pilot study is part of the familiarization phase of an iterative interdisciplinary design process aiming at outlining critical design and experimental issues before engaging into detailed design processes, elaborated experimental methodology and rigorous testing of the various capabilities of mobile robots for home care applications. More specifically, we evaluated, with a small set of trained and untrained operators, two conceptually different user interfaces for teleoperated mobile robotic systems. These results demonstrate the challenges and the necessity of conducting trials in home environments to evaluate such teleoperated systems, and outline distinct preferences regarding robot capabilities, user interface navigation method and evaluation methodology.
