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23rd Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour, AISB 2009

作者： Lohse, Manja Applied Informatics Research Institute for Cognition and Robotics Bielefeld University Bielefeld Germany

ISBN: (纸本)1902956850

Whenever humans interact they form expectations which their behaviour is grounded in. This paper claims that this is also true for human-robot interaction (HRI). It introduces assumptions from expectation theory and illustrates how these can be tested in an HRI context. The paper aims to show that knowing the users' expectations can help to design robots. Since user expectations depend on the robot behaviour, they can be shaped to improve the interaction.

关键词： Human robot interaction

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A random center surround bottom up visual attention model useful for salient region detection

A random center surround bottom up visual attention model us...

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2011 IEEE Workshop on Applications of Computer Vision, WACV 2011

作者： Vikram, Tadmeri Narayan Tscherepanow, Marko Wrede, Britta Applied Informatics Group Bielefeld University Bielefeld Germany Research Institute for Cognition and Robotics CoR-Lab. Bielefeld University Bielefeld Germany

ISBN: (纸本)9781424494965

In this article, we propose a bottom-up saliency model which works on capturing the contrast between random pixels in an image. The model is explained on the basis of the stimulus bias between two given stimuli (pixel intensity values) in an image and has a minimal set of tunable parameters. The methodology does not require any training bases or priors. We followed an established experimental setting and obtained state-of-the-art-results for salient region detection on the MSR dataset. Further experiments demonstrate that our method is robust to noise and has, in comparison to six other state-of-the-art models, a consistent performance in terms of recall, precision and F-measure. © 2010 IEEE.

关键词： Pixels

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Impact of Real-time Visual Attention on Computer Vision Products and Cognitive robotics

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Procedia Computer Science 2011年 7卷 332-333页

作者： Tadmeri Narayan Vikram Marko Tscherepanow Britta Wrede Research Institute for Cognition and Robotics (CoR-Lab) and Applied Informatics Group Bielefeld University Bielefeld Germany

In this article we explore the current avenues and future applications of visual attentional models that have a significant bearing on the fields of computer vision and cognitive robotics. Computational modelling of visual attention is among the active areas of research which are being pursued by diverse communities like computer science, systems biology, psychology and electrical engineering. An efficient model for visual attention is shown to have interesting applications to many real-life problems. We explore these ideas and point to some more plausible and useful applications of visual attention which could impact positively on our lives.

关键词： Visual Attention Saliency Map robotics Eye-Gaze Predictions Human-Robot Interaction

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"Can you answer questions, Flobi?": Interactionally defining a robot's competence as a fitness instructor

"Can you answer questions, Flobi?": Interactionally defining...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Luise Sussenbach Karola Pitsch Ingmar Berger Nina Riether Franz Kummert Applied Informatics Group and the Research Institute for Cognition and Robotics Faculty of Technology Bielefeld University

ISBN: (纸本)9781467346047

Users draw on four sources to judge a robot's competence: (1) the robot's voice, (2) physical appearance of and (3) the interaction experience with the robot but also (4) the relationship between the robot's physical appearance and its conduct. Furthermore, most approaches in social robotics have an outcome-oriented focus and thus use questionnaires to measure a global evaluation of the robot after interaction took place. The present research takes a process-oriented approach to explore the factors relevant in the formation of users' attitudes toward the robot. To do so, an ethnographic approach (Conversation Analysis) was employed to analyze the micro-coordination between user and robot. We report initial findings from a study in which a robot took the role of a fitness instructor. Our results emphasize that the participant judges step-by-step the robot's capabilities and differentiates its competence on two levels regarding to the robot's role: a robot as a (1) social/interactional co-participant and as a (2) fitness instructor.

关键词： Robot instructor competence health Consumers Physical Appearance, Body

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Attitude of German museum visitors towards an interactive art guide robot

Attitude of German museum visitors towards an interactive ar...

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

作者： Karola Pitsch Sebastian Wrede Jens-Christian Seele Luise Süssenbach Research Institute for Cognition and Robotics (CoR-Lab) & Applied Informatics Bielefeld University Germany

As a testbed for real-world experimentation on HRI and dynamic interaction models, this paper presents an autonomous robot system acting as guide in a German arts museum. The visitors' evaluation of this system is... 详细信息

关键词： Humans Art Painting Robot sensing systems Monitoring Computers

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A saliency model for goal directed actions

A saliency model for goal directed actions

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IEEE International Conference on Development and Learning, ICDL

作者： Tadmeri Narayan Vikram Marko Tscherepanow Britta Wrede Research Institute for Cognition and Robotics (CoR-Lab) and Applied Informatics Bielefeld University Bielefeld Germany

In this paper, we propose a saliency model which can be used to guide eye movements for viewing a goal-directed action video. The model employs top-down and bottom-up saliency components which work purely on contrasts of random pixels in the image. We construct task specific spatio-temporal priors and integrate them into the top-down and bottom-up modules. These priors reduce the search space for the target object, thereby automatically suppressing those image regions that are task irrelevant. For the purpose of evaluation we introduce a new goal-directed video database containing 60 sequences of five goal-directed actions performed by the same human demonstrator. The presented results of saliency detection justify the proposed model and demonstrate its advantage over models for task independent saliency detection.

关键词： Computational modeling Visualization Streaming media Search problems Humans Robots Predictive models

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Integrating habituation into saliency maps

Integrating habituation into saliency maps

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IEEE International Conference on Development and Learning, ICDL

作者： Tadmeri Narayan Vikram Marko Tscherepanow Britta Wrede Research Institute for Cognition and Robotics (CoR-Lab) and Applied Informatics Bielefeld University Bielefeld Germany

Computational modelling of visual saliency has been an active area of research since the last two decades. It has profound impact on robotics as it helps in automatically selecting visually interesting regions from a given scene. A model of visual saliency generates a saliency map - which is a two-dimensional representation of the visual scene - where each pixel highlights the degree of saliency at a given spatial location. A saliency map is meant to be a surrogate representation of the spread of visual attention over the scene. Several saliency maps such as [1], [2] and [3] have been proposed in the literature. They are successful in mimicking the human eye-gaze on images for a free-viewing condition. The saliency models operate at the pixel level and rely on colour contrasts to compute the saliency at a given point. However, humans do not necessarily view images at the pixel level, but rather segment the scene in terms of objects. This is at a higher level of abstraction which the contemporary saliency models do not handle.

关键词： Rabbits Computational modeling Visualization Robots Humans Psychology Pattern recognition

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Contingency scaffolds language learning

Contingency scaffolds language learning

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IEEE International Conference on Development and Learning, ICDL

作者： Katrin Solveig Lohan Katharina Rohlfing Joe Saunders Chrystopher Nehaniv Britta Wrede Robotics Brain & Cognitive Sciences Instituto Italiano di Tecnologia Bielefeld University Cognitive Interaction Technology - Center of Excellence Adaptive Systems Research Group University of Hertfordshire Applied Informatics Group Research Institute for Cognition and Robotics

In human robot interaction the question how to communicate is an important one. The answer to this question can be approached through several perspectives. One approach to study the best way how a robot should behave in an interaction with a human is by providing a consistent robotic behavior. From this we can gain insights into what parameters are triggering what responsive behavior in an user. This method allows us as roboticists to investigate how we can elicit a specific behavior in users in order to facilitate robot's learning. In previous studies, we have shown how responsive eye gaze and feedback on a looming detection is modifying the human tutoring behavior [1]. In this paper, we present a study was carried out within the ITALK project. The study is targeting, how we can tune robotic feedback strategies of the iCub robot to evoke a tutoring behavior in a human tutor that is supporting a language acquisition system. We used a longitudinal approach for the study to also verify the verbal feedback given by the robot.

关键词： Robot sensing systems Usability Humans Face Shape

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Goal babbling of acoustic-articulatory models with adaptive exploration noise

Goal babbling of acoustic-articulatory models with adaptive ...

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IEEE International Conference on Development and Learning, ICDL

作者： Anja Kristina Philippsen René Felix Reinhart Britta Wrede Cognitive Interaction Technology Center (CITEC) Bielefeld University Research Institute for Cognition and Robotics (CoR-Lab) Bielefeld University Applied Informatics Group Bielefeld University

ISBN: (纸本)9781509050703

We use goal babbling to bootstrap a parametric model of speech production for a complex 3D vocal tract model. The system learns to control the articulators for producing five different vowel sounds. Ambient speech influences learning on two levels: it organizes the learning process because it is used to generate a space of goals in which exploration takes place. A distribution learned from ambient speech provides the system with targets during exploration. Previous research with this vocal tract model showed that visual information have to be included for acquiring the vowel [u] via reward-based optimization. We model the learning process instead with goal-directed exploration where all targets are learned in parallel. As some vowels require more exploratory noise in the articulators than others, we propose a mechanism to adapt the noise amplitude depending on the system's competence in different regions of the goal space. We demonstrate that this self-aware learning leads to more stable results. The implemented system succeeds in acquiring vocalization skills for rounded as well as unrounded vowels using only a single modality.

关键词： Speech Acoustics Inverse problems Adaptation models Feature extraction Training Aerospace electronics

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Effects of a Robot's Aesthetic Design on the attribution of social capabilities

Effects of a Robot's Aesthetic Design on the attribution of ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Frank Hegel Faculty of Technology Applied Informatics (AGAI) Research Institute for Cognition and Robotics (CoR-Lab) Bielefeld University Bielefeld Germany

A robot's physical appearance is the most visible and most easily accessible information about its capabilities. The objective of the experiment presented in this paper is to bring insights into the evaluation of a robot's aesthetic design with regard to its social capabilities. Specifically, participants evaluated four human-like and four highly anthropomorphic robots regarding their aesthetic design, specific capabilities, and human-likeness. The robots varied in the quality of the industrial design: two of the human-like as well as two of the anthropomorphic robots have obviously been professionally designed while the others appear less professionally (i.e., rather unsophisticated) designed. The findings demonstrate that participants judged sophisticated designed robots to possess significantly more social capabilities (e.g., honesty, intelligence, emotionality). Human-likeness of the different robots did not have any significant effects on the attribution of social capabilities.

关键词： Service robots Humans Robot sensing systems Educational institutions Anthropomorphism Sections

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