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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Automatic position calibration and sensor displacement detection for networks of laser range finders for human tracking

Automatic position calibration and sensor displacement detec...

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2010 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Dylan F. Glas Takahiro Miyashita Hiroshi Ishiguro Norihiro Hagita ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Intelligent Robotics Laboratory Graduate School of Engineering Science Osaka University Osaka Japan

Laser range finders are a non-invasive tool which can be used for anonymously tracking the motion of people and robots in real-world environments with high accuracy. Based on a commercial system we have developed, this paper addresses two practical issues of using networks of portable laser range finders in field environments. We first describe a technique for automated calibration of sensor positions and orientations, by using velocity-based matching of observed human trajectories to define constraints between the sensors. We then propose a mechanism for detecting when a sensor has been moved out of alignment, which can be used to alert an operator of the condition and automatically exclude erroneous data from tracking calculations. After describing our techniques for solving these problems, we demonstrate the effectiveness of our calibration and error detection systems in live trials with our real-time system, as well as offline tests based on scan data recorded from field trials.

关键词： Robot sensing systems Trajectory Humans Calibration Tracking Lasers

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Exploiting multimodal data fusion in robust speech recognition

Exploiting multimodal data fusion in robust speech recogniti...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Panikos Heracleous Pierre Badin Gérard Bailly Norihiro Hagita Intelligent Robotics and Communication Laboratories ATR Japan GIPSA-Laboratory Speech and Cognition Department UMR 5216 CNRS-Grenoble University France

This article introduces automatic speech recognition based on Electro-Magnetic Articulography (EMA). Movements of the tongue, lips, and jaw are tracked by an EMA device, which are used as features to create Hidden Markov Models (HMM) and recognize speech only from articulation, that is, without any audio information. Also, automatic phoneme recognition experiments are conducted to examine the contribution of the EMA parameters to robust speech recognition. Using feature fusion, multistream HMM fusion, and late fusion methods, noisy audio speech has been integrated with EMA speech and recognition experiments have been conducted. The achieved results show that the integration of the EMA parameters significantly increases an audio speech recognizer's accuracy, in noisy environments.

关键词： Speech Hidden Markov models Accuracy Speech recognition Tongue Noise measurement Coils

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Psychological intimacy with robots? Using interaction patterns to uncover depth of relation

Psychological intimacy with robots? Using interaction patter...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Peter H. Kahn Jolina H. Ruckert Takayuki Kanda Hiroshi Ishiguro Aimee Reichert Heather Gary Solace Shen Department of Psychology University of Washington Seattle WA USA Intelligent Robotics and Communication Laboratory ATR Kyoto Japan Department of Systems Innovation Osaka University Osaka Japan

This conceptual paper broaches possibilities and limits of establishing psychological intimacy in HRI.

关键词： Psychology Humanoid robots intelligent robots Human robot interaction Delay Laboratories Technological innovation Ethics Design methodology Arm

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Validating interaction patterns in HRI

Validating interaction patterns in HRI

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Peter H. Kahn Brian T. Gill Aimee L. Reichert Takayuki Kanda Hiroshi Ishiguro Jolina H. Ruckert Department of Psychology University of Washington Seattle WA USA Department of Mathematics Seattle Pacific University Seattle WA USA Intelligent Robotics and Communication Laboratory ATR Kyoto Japan Department of Systems Innovation Osaka University Osaka Japan

In recent work, ¿interaction patterns¿ have been proposed as a means to characterize essential features of human-robot interaction. A problem arises, however, in knowing whether the interaction patterns generated are valid. The same problem arises when researchers in HRI propose other broad conceptualizations that seek to structure social interaction. In this paper, we address this general problem by distinguishing three ways of establishing the validity of interaction patterns. The first form of validity seeks to establish whether the conclusions about interaction patterns are warranted from the data. The second seeks to establish whether the interaction patterns account for the data. And the third seeks to provide sound reasons for the labels of the patterns themselves. Often these three forms of validity are confused in discussions about conceptual categories in HRI.

关键词： Human robot interaction Educational institutions Psychology intelligent robots Laboratories Context Psychometric testing Mathematics Technological innovation Pattern recognition

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Field trial for simultaneous teleoperation of mobile social robots

Field trial for simultaneous teleoperation of mobile social ...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Dylan F. Glas Takayuki Kanda Hiroshi Ishiguro Norihiro Hagita ATR Intelligent Robotics and Communication Laboratory Kyoto Japan

Simultaneous teleoperation of mobile, social robots presents unique challenges, combining the real-time demands of conversation with the prioritized scheduling of navigational tasks. We have developed a system in which a single operator can effectively control four mobile robots performing both conversation and navigation. We compare the teleoperation requirements for mobile, social robots with those of traditional robot systems, and we identify metrics for evaluating task difficulty and operator performance for teleoperation of mobile social robots. As a proof of concept, we present an integrated priority model combining real-time conversational demands and non-real-time navigational demands for operator attention, and in a pioneering study, we apply the model and metrics in a demonstration of our multi-robot system through real-world field trials in a shopping arcade.

关键词： Robot sensing systems Navigation Humans Mobile communication Measurement Real time systems

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Footing in human-robot conversations: How robots might shape participant roles using gaze cues

Footing in human-robot conversations: How robots might shape...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Bilge Mutlu Toshiyuki Shiwa Takayuki Kanda Hiroshi Ishiguro Norihiro Hagita Human-Computer Interaction Institute Carnegie Mellon University Pittsburgh PA USA Intelligent Robotics and Communication Laboratory ATR Kyoto Japan Faculty of Engineering Osaka University Suita Osaka Japan

During conversations, speakers establish their and others' participant roles (who participates in the conversation and in what capacity)-or “footing” as termed by Goffman-using gaze cues. In this paper, we study how a robot can establish the participant roles of its conversational partners using these cues. We designed a set of gaze behaviors for Robovie to signal three kinds of participant roles: addressee, bystander, and overhearer. We evaluated our design in a controlled laboratory experiment with 72 subjects in 36 trials. In three conditions, the robot signaled to two subjects, only by means of gaze, the roles of (1) two addressees, (2) an addressee and a bystander, or (3) an addressee and an overhearer. Behavioral measures showed that subjects' participation behavior conformed to the roles that the robot communicated to them. In subjective evaluations, significant differences were observed in feelings of groupness between addressees and others and liking between overhearers and others. Participation in the conversation did not affect task performance-measured by recall of information presented by the robot-but affected subjects' ratings of how much they attended to the task.

关键词： Robots Humans Shape Atmospheric measurements Particle measurements Speech Educational institutions

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Field trial for simultaneous teleoperation of mobile social robots

Field trial for simultaneous teleoperation of mobile social ...

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4th ACM/IEEE International Conference on Human-Robot Interaction, HRI'09

作者： Glas, Dylan F. Kanda, Takayuki Ishiguro, Hiroshi Hagita, Norihiro ATR Intelligent Robotics Communication Laboratory Keihanna Science City 2-2-2 Hikaridai Kyoto Japan

ISBN: (纸本)9781605584041

关键词： Remote control

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An affective guide robot in a shopping mall

An affective guide robot in a shopping mall

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4th ACM/IEEE International Conference on Human-Robot Interaction, HRI'09

作者： Kanda, Takayuki Shiomi, Masahiro Miyashita, Zenta Ishiguro, Hiroshi Hagita, Norihiro ATR Intelligent Robotics Communication Laboratory Keihanna Science City 2-2-2 Hikaridai Kyoto Japan

ISBN: (纸本)9781605584041

To explore possible robot tasks in daily life, we developed a guide robot for a shopping mall and conducted a field trial with it. The robot was designed to interact naturally with customers and to affectively provide shopping information. It was also designed to repeatedly interact with people to build a rapport;since a shopping mall is a place people repeatedly visit, it provides the chance to explicitly design a robot for multiple interactions. For this capability, we used RFID tags for person identification. The robot was semiautonomous, partially controlled by a human operator, to cope with the difficulty of speech recognition in a real environment and to handle unexpected situations. A field trial was conducted at a shopping mall for 25 days to observe how the robot performed this task and how people interacted with it. The robot interacted with approximately 100 groups of customers each day. We invited customers to sign up for RFID tags and those who participated answered questionnaires. The results revealed that 63 out of 235 people in fact went shopping based on the information provided by the robot. The experimental results suggest promising potential for robots working in shopping malls. Copyright 2009 ACM.

关键词： Sales

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Providing route directions: Design of robot's utterance, gesture, and timing

Providing route directions: Design of robot's utterance, ges...

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4th ACM/IEEE International Conference on Human-Robot Interaction, HRI'09

作者： Okuno, Yusuke Kanda, Takayuki Imai, Michita Ishiguro, Hiroshi Hagita, Norihiro ATR Intelligent Robotics and Communication Laboratory Keihanna Science City 2-2-2 Hikaridai Kyoto Japan

ISBN: (纸本)9781605584041

Providing route directions is a complicated interaction. Utterances are combined with gestures and pronounced with appropriate timing. This study proposes a model for a robot that generates route directions by integrating three important crucial elements: Utterances, gestures, and timing. Two research questions must be answered in this modeling process. First, is it useful to let robot perform gesture even though the information conveyed by the gesture is given by utterance as well? Second, is it useful to implement the timing at which humans speaks? Many previous studies about the natural behavior of computers and robots have learned from human speakers, such as gestures and speech timing. However, our approach is different from such previous studies. We emphasized the listener's perspective. Gestures were designed based on the usefulness, although we were influenced by the basic structure of human gestures. Timing was not based on how humans speak, but modeled from how they listen. The experimental result demonstrated the effectiveness of our approach, not only for task efficiency but also for perceived naturalness. Copyright 2009 ACM.

关键词： Robots

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