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3rd IEEE Colombian Conference on Automatic Control (CCAC)

作者： Bravo, Flor A. Gonzalez, Alejandra M. Gonzalez, Enrique Pontificia Univ Javeriana Engn Sch Bogota Colombia Pontificia Univ Javeriana Engn Bogota Colombia

ISBN: (纸本)9781538603987

This paper examines the main robot programming strategies and how they are used in the educational context. We analyze the advantages and drawbacks of the most common programming strategies in educational robotics such as textual, visual, and tangible based programming. Additionally, it explores the approach of programming by demonstrations PbD in an educational context. We identify the main PbD techniques, such as demonstrations through manipulation of the body of the learner robot or a model of the robot, demonstrations through the body motions of a human o robot teacher, demonstrations through the behavior of an object, among others. The paper also identifies the programming techniques that allow non programmers to create a robot program easily. Furthermore, we present research opportunities of intuitive robot programming in an educational context. Currently, the scope and impact of robot-based activities have primarily focused on the teaching and learning of technical subjects. In this paper, we discuss some characteristics that robot programming environments should have to facilitate the integration of educational robotics in the learning and teaching processes of non-technical school subjects.

关键词： Robot programming intuitive programming educational robotics visual programming languages textual programming languages tangible programming programming by demonstration

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Geometric Reasoning enabled One Shot Learning for Robotic Tasks 30th

Geometric Reasoning enabled One Shot Learning for Robotic Ta...

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30th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM)

作者： Ikeda, Markus Ganglbauer, Markus Chitturi, Naresh Pichler, Andreas Profactor GmbH Stadgut D1 AT-4407 Steyr Gleinly Austria

Flexible robotics will be a major enabling technology for the application of robot-based automation in other than traditionally suitable automotive or electronics production with high volumes. Increased demand for flexibility due to individualized production typical for most SMEs require an increased level of flexibility - also for robots that should be able to learn as well as provide an increased level of autonomy due to improved skills and extended reasoning capabilities. This publication tries to find out if novel ANN methodology that is able to process 3D surface data is applicable to generalize process knowledge in a one shot learning by demonstration situation in order to be able to execute tasks on similar but geometrically unequal objects in future settings. The methodology generalizes not on symbolic or trajectory level but on surface geometry level and was applied to a simple geometric object on lab scale. The algorithms introduced are applicable to more complex objects with practical relevance. (C) 2021 The Authors. Published by Elsevier Ltd.

关键词： human robot knowledge transfer one shot learning programming by demonstration cognitive robotics

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FrameWire: A Tool for Automatically Extracting Interaction Logic from Paper Prototyping Tests 10

FrameWire: A Tool for Automatically Extracting Interaction L...

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28th Annual CHI Conference on Human Factors in Computing Systems

作者： Li, Yang Cao, Xiang Everitt, Katherine Dixon, Morgan Landay, James A. Univ Washington DUB Inst Seattle WA 98195 USA Microsoft Res Cambridge England

ISBN: (纸本)9781605589299

Paper prototyping offers unique affordances for interface design. However, due to its spontaneous nature and the limitations of paper, it is difficult to distill and communicate a paper prototype design and its user test findings to a wide audience. To address these issues, we created FrameWire, a computer vision-based system that automatically extracts interaction flows from the video recording of paper prototype user tests. Based on the extracted logic, FrameWire offers two distinct benefits for designers: a structural view of the video recording that allows a designer or a stakeholder to easily distill and understand the design concept and user interaction behaviors, and automatic generation of interactive HTML-based prototypes that can be easily tested with a larger group of users as well as "walked through" by other stakeholders. The extraction is achieved by automatically aggregating video frame sequences into an interaction flow graph based on frame similarities and a designer-guided clustering process. The results of evaluating FrameWire with realistic paper prototyping tests show that our extraction approach is feasible and FrameWire is a promising tool for enhancing existing prototyping practice.

关键词： Paper prototyping programming by demonstration

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An Automatic Behavior Toolkit for a Virtual Character

An Automatic Behavior Toolkit for a Virtual Character

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International Conference on Multimedia, Computer Graphics and Broadcasting (MulGraB 2011)

作者： Sung, Yunsick Cho, Kyungeun Dongguk Univ Dept Multimedia Engn 26 Pil Dong 3 Ga Seoul 100715 South Korea Dongguk Univ Grad Sch Dept Game Engn Seoul 100715 South Korea

ISBN: (纸本)9783642272035

Approaches that apply programming by demonstration (PhD) to automatically generate the behaviors of virtual characters have been actively studied. One of PbD directly delivers the knowledge of a predecessor to the virtual character. Therefore, a virtual character learns the behaviors to be executed by observing the behaviors of a predecessor. All consecutive actions are derived from the actions collected as behaviors. The behaviors to be executed are selected from defined behaviors using the Maximin Selection algorithm. However, these approaches collect a large amount of data in real time. Therefore, the amount of data significantly increases, and their analysis becomes difficult. This paper proposes a toolkit that employs PbD to automatically generate the behaviors of virtual characters based on those of a predecessor. Furthermore, an approach to manage and analyze the collected data is described. On the basis of the results of an experiment, it was verified that the proposed toolkit could generate a script of the behaviors of virtual characters for driving in a car simulation.

关键词： Behavior Toolkit programming by demonstration Virtual Character Agent Framework

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Action Sequence Reproduction based on Automatic Segmentation and Object-Action Complexes 13

Action Sequence Reproduction based on Automatic Segmentation...

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13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Waechter, Mirko Schulz, Sebastian Asfour, Tamim Aksoy, Eren Woergoetter, Florentin Dillmann, Ruediger Karlsruhe Inst Technol Inst Anthropomat Adenauerring 2 D-76131 Karlsruhe Germany Univ Gottingen Phys Inst 3 Friedrich Hund Pl 1 D-37077 Gottingen Germany

ISBN: (纸本)9781479926190

Teaching robots object manipulation skills is a complex task that involves multimodal perception and knowledge about processing the sensor data. In this paper, we show a concept for humanoid robots in household environments with a variety of related objects and actions. Following the paradigms of programming by demonstration (PbD), we provide a flexible approach that enables a robot to adaptively reproduce an action sequence demonstrated by a human. The obtained human motion data with involved objects is segmented into semantic conclusive sub-actions by the detection of relations between the objects and the human actor. Matching actions are chosen from a library of Object-Action Complexes (OACs) using the preconditions and effects of each sub-action. The resulting sequence of OACs is parameterized for the execution on a humanoid robot depending on the observed action sequence and on the state of the environment during execution. The feasibility of this approach is shown in an exemplary kitchen scenario, where the robot has to prepare a dough.

关键词： automatic programming humanoid robots image motion analysis image segmentation image sequences motion control object detection robot programming teaching OAC PbD action sequence reproduction actions matching automatic segmentation household environments human actor human motion data multimodal perception object manipulation skills object-action complexes programming by demonstration robot teaching semantic conclusive subactions sensor data processing Humanoid robots Libraries Liquids Motion segmentation Robot sensing systems Trajectory

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Error-Tolerant Version Space Algebra 10

Error-Tolerant Version Space Algebra

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Proceedings of the 14th ACM International Conference on Intelligent User Interfaces

作者： Creswick, Eugene R. Novstrup, Aaron M. Stottler Henke Associates Inc Seattle WA USA

ISBN: (纸本)9781605585154

Application customization has been extensively researched in the field of programming by demonstration (PBD), and Version Space Algebra has proven itself to be a viable means of quickly learning precise action sequences from user demonstrations. However, this technique is not capable of handling user error in domains with actions that depend on parameters that accept myriad values. Activities such as image, audio and video editing require user actions that are difficult for users to precisely replicate in different circumstances. demonstrations that are off by a single pixel or a split-second cause traditional composite Version Spaces to collapse. We present a method of incorporating error tolerance into Version Space algebra. This approach, termed Error-Tolerant Version Spaces, adapts Version Space Algebra to domains where the tactile capabilities of the user have a much greater chance of prematurely collapsing the hypothesis space that is being learned. The resulting framework is capable of quickly learning in domains where perfectly consistent user input can not be expected. We have successfully applied our technique in the domain of image redaction, allowing our users to quickly specify redactions that can be reliably applied to many images without the entry of explicit parameters.

关键词： Smart Environments Error Tolerance Version Spaces programming by demonstration

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PUMICE: A Multi-Modal Agent that Learns Concepts and Conditionals from Natural Language and demonstrations 19

PUMICE: A Multi-Modal Agent that Learns Concepts and Conditi...

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32nd Annual ACM Symposium on User Interface Software and Technology (UIST)

作者： Li, Toby Jia-Jun Radensky, Marissa Jial, Justin Singarajah, Kirielle Mitchell, Tom M. Myers, Brad A. Carnegie Mellon Univ Pittsburgh PA 15213 USA Amherst Coll Amherst MA 01002 USA

ISBN: (纸本)9781450368162

Natural language programming is a promising approach to enable end users to instruct new tasks for intelligent agents. However, our formative study found that end users would often use unclear, ambiguous or vague concepts when naturally instructing tasks in natural language, especially when specifying conditionals. Existing systems have limited support for letting the user teach agents new concepts or explaining unclear concepts. In this paper, we describe a new multi-modal domain-independent approach that combines natural language programming and programming-by-demonstration to allow users to first naturally describe tasks and associated conditions at a high level, and then collaborate with the agent to recursively resolve any ambiguities or vagueness through conversations and demonstrations. Users can also define new procedures and concepts by demonstrating and referring to contents within GUIs of existing mobile apps. We demonstrate this approach in PUMICE, an end-user programmable agent that implements this approach. A lab study with 10 users showed its usability.

关键词： programming by demonstration Natural Language programming End User Development Multi-modal Interaction

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Pavlov: An Interface Builder for Designing Animated Interfaces

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ACM Transactions on Computer-Human Interaction 1997年第4期4卷 347-386页

作者： Wolber, David Department of Computer Science University of San Francisco San Francisco 2130 Fulton Street CA 94117-1080 United States

Conventional interface builders provide little support for interactive development of interfaces with application-specific graphics. Some programming by demonstration (PBD) systems do provide such support, but none provide full support for demonstrating interfaces, such as those in games, in which the graphics are animated. This article proposes a number of techniques for creating animated interfaces, all of which have been included in an exploratory system, Pavlov. Many of the techniques are based on the addition of timing controls to a form of PBD called stimulus-response demonstration. Others are based on an adaptation of a traditional animation time-line that integrates end-user interaction with animation. The article also evaluates Pavlov with (1) a comparison to other PBD systems in terms of the behaviors that can be specified interactively and (2) a report on an informal user study comparing development in Pavlov to development in a conventional interface builder. © 1997, ACM. All rights reserved.

关键词： Animation Design Human Factors programming by demonstration user interface design environments (UIDEs)

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RecurBot: Learn to Auto-complete GUI Tasks From Human demonstrations

RecurBot: Learn to Auto-complete GUI Tasks From Human Demons...

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CHI Conference on Human Factors in Computing Systems (CHI)

作者： Intharah, Thanapong Firman, Michael Brostow, Gabriel J. UCL Gower St London England

ISBN: (纸本)9781450356213

On the surface, task-completion should be easy in graphical user interface (GUI) settings. In practice however, different actions look alike and applications run in operating-system silos. Our aim within GUI action recognition and prediction is to help the user, at least in completing the tedious tasks that are largely repetitive. We propose a method that learns from a few user-performed demonstrations, and then predicts and finally performs the remaining actions in the task. For example, a user can send customized SMS messages to the first three contacts in a school's spreadsheet of parents;then our system loops the process, iterating through the remaining parents. First, our analysis system segments the demonstration into discrete loops, where each iteration usually included both intentional and accidental variations. Our technical innovation approach is a solution to the standing motif-finding optimization problem, but we also find visual patterns in those intentional variations. The second challenge is to predict subsequent GUI actions, extrapolating the patterns to allow our system to predict and perform the rest of a task. We validate our approach on a new database of GUI tasks, and show that our system usually (a) gleans what it needs from short user demonstrations, and (b) auto-completes tasks in diverse GUI situations.

关键词： programming by demonstration Recurrent Action Recognition GUI programming

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Categories and Completeness of Visual programming and Direct Manipulation 20

Categories and Completeness of Visual Programming and Direct...

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Working Conference on Advanced Visual Interfaces (AVI)

作者： McGuffin, Michael J. Fuhrman, Christopher P. Ecole Technol Super Montreal PQ Canada

ISBN: (纸本)9781450375351

Recent innovations in visual programming and the use of direct manipulation for programming have demonstrated promise, but also raise questions about how far these approaches can be generalized. To clarify these issues, we present a categorization of systems for visual programming, programming-by-example, and similar systems. By examining each category, we elucidate the advantages, limitations, and ways to extend systems in each category. Our work makes it easier for researchers and designers to understand how visual programming languages (VPLs) and similar systems relate to each other, and how to extend them. We also indicate directions for future research.

关键词： visual programming languages direct manipulation programming by example output-directed programming taxonomy programming by demonstration

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