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IEEE International Conference on Robotics and Automation (ICRA)

作者： Cheng Pan Kieran Gilday Emily Sologuren Kai Junge Josie Hughes CREATE Lab Swiss Federal Institute of Technology Lausanne (EPFL) Lausanne Switzerland Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology (MIT) Cambridge MA USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Learning manipulation from demonstration is a key way for humans to teach complex tasks. However, this domain mainly focuses on kinetic teaching, and does not consider imitation of interaction forces which is essential for more contact rich tasks. We propose a framework that enables robotic imitation of contact from human demonstration using a wearable finger-tip sensor. By developing a multi-modal sensor (providing both force and contact location) and robotic collection of simple training data of different motion primitives (tapping, rotation and translation), an LSTM-based model can be used to replicate motion from tactile demonstration only. To evaluate this approach, we explore the performance on increasingly complex testing data generated by a robot, and also demonstrate the full pipeline from human demonstration via the sensor used as a wearable device. This approach of using tactile sensing as a means of inferring the required robot motion paves the way for imitation of more contact-rich tasks, and enables imitation of tasks where the demonstration and imitation is performed with different body-schema.

关键词： Performance evaluation Robot motion Multimodal sensors Pipelines Training data Robot sensing systems Kinetic theory

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Correction to: Many are the ways to learn: Identifying multi-modal behavioral profiles of collaborative learning in constructivist activities

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International Journal of computer-Supported Collaborative Learning 2022年 1-2页

作者： Nasir, Jauwairia Kothiyal, Aditi Bruno, Barbara Dillenbourg, Pierre Computer‑Human Interaction in Learning and Instruction (CHILI) Lab Swiss Federal Institute of Technology in Lausanne (EPFL) Lausanne Switzerland

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Questioning Wizard of Oz: Effects of Revealing the Wizard behind the Robot

Questioning Wizard of Oz: Effects of Revealing the Wizard be...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jauwairia Nasir Pierre Oppliger Barbara Bruno Pierre Dillenbourg Computer-Human Interaction in Learning and Instruction (CHILI) Lab Swiss Federal Institute of Technology in Lausanne (EPFL) Switzerland

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

Wizard of Oz, a very commonly employed technique in human-robot interaction, faces the criticism of being deceptive as the humans interacting with the robot are told, if at all, only at the end of their interaction that there was in fact a human behind the robot. What if the robot reveals the wizard behind itself very early in the interaction? We built a deep wizard of Oz setup to allow for a robot to play together with a human against a computer AI in the context of Connect 4 game. This cooperative game interaction against a common opponent is then followed by a conversation between the human and the robot. We conducted an exploratory user study with 29 adults with three conditions where the robot reveals the wizard, lies about the wizard, and does not say anything, respectively. We also split the data based on how the participants perceive the robot in terms of autonomy. Using different metrics, we evaluate how the users interact with and perceive the robot in both the experimental and perceived conditions. We find that while there is indeed a significant difference in the participants willingness to follow robots suggestions between the experimental conditions as well as in the effort they put to prove themselves as humans (reverse Turing test), there isn’t any significant difference in their robot perception. Additionally, how humans perceive whether the robot is tele-operated or autonomous seems to be indifferent to the robot revealing its identity, i.e., the pre-conceived notions may be uninfluenced even if the robot explicitly states otherwise. Lastly, interestingly in the perception based conditions, absence of statistical significance may suggest that, in certain contexts, wizard of oz may not require hiding the wizard after all.

关键词： Atmospheric measurements Sociology Social robots Games Oral communication Particle measurements Time measurement

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NTIRE 2023 Challenge on Night Photography Rendering

NTIRE 2023 Challenge on Night Photography Rendering

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2023 IEEE/CVF Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Shutova, Alina Ershov, Egor Perevozchikov, Georgy Ermakov, Ivan Banić, Nikola Timofte, Radu Collins, Richard Efimova, Maria Terekhin, Arseniy Zini, Simone Rota, Claudio Buzzelli, Marco Bianco, Simone Schettini, Raimondo Lei, Chunxia Wang, Tingniao Wang, Song Liu, Shuai Feng, Chaoyu Shao, Guangqi Wang, Hao Wang, Xiaotao Lei, Lei Xu, Lu Zhang, Chao Wang, Yasi Guo, Jin Sun, Yangfan Liu, Tianli Hao, Dejun Kinli, Furkan Özcan, Bariş Kiraç, Furkan Chung, Hyerin Lee, Nakyung Kwak, Sung Keun Conde, Marcos Elezabi, Omar Seizinger, Tim Vasluianu, Florin Hsieh, Chia-Hsuan Chen, Wei-Ting Yang, Hao-Hsiang Huang, Zhi-Kai Chang, Hua-En Chen, I-Hsiang Chen, Yi-Chung Chiang, Yuan-Chun Kuo, Sy-Yen Russia Gideon Brothers Croatia Swiss Federal Institute of Technology in Zurich Switzerland University of Milano - Bicocca Italy Zhejiang Dahua Technology China Xiaomi Inc. China Beijing Samsung Teleconmmunication R&D Center China Vision and Graphics Lab Özyeǧin University Turkey Fishency Innovation Norway T-Fashion Inc. Turkey CJ OliveNetworks AI Research Korea Republic of University of Wuerzburg Computer Vision Lab CAIDAS Germany ServiceNow United States Graduate Institute of Electronics Engineering National Taiwan University Taiwan Department of Electrical Engineering National Taiwan University Taiwan Graduate Institute of Communication Engineering National Taiwan University Taiwan University of Würzburg Germany

ISBN: (纸本)9798350302493

This paper presents a review of the NTIRE 2023 challenge on night photography rendering. The goal of the challenge was to find solutions that process raw camera images taken in nighttime conditions conditions, and thereby produce a photo-quality output images in the standard RGB (sRGB) space. Unlike the previous year's competition, participants were not provided with a large training dataset for the target sensor. Instead, this time they were given images of a color checker illuminated by a known light source. To evaluate the results, a sufficient number of viewers were asked to assess the visual quality of the proposed solutions, considering the subjective nature of the task. The highest ranking solutions were further ranked by Richard Collins, a renowned photographer. The top ranking participants' solutions effectively represent the state-of-the-art in nighttime photography rendering. More results can be found at https://***/ © 2023 IEEE.

关键词： Photography

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An HMM-based Real-time Intervention Methodology for a Social Robot Supporting Learning

An HMM-based Real-time Intervention Methodology for a Social...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jauwairia Nasir Mortadha Abderrahim Barbara Bruno Pierre Dillenbourg Human-Centered Artificial Intelligence (HCAI) Lab University of Augsburg Germany Computer-Human Interaction in Learning and Instruction (CHILI) Lab Swiss Federal Institute of Technology in Lausanne (EPFL) Switzerland Socially Assistive Robotics with Artificial Intelligence (SARAI) Lab Karlsruhe Institute of Technology (KIT) Germany

To make social robots effective in education, they need to be autonomous both in terms of assessing the student’s engagement state as well as intervening effectively in soft real-time when necessary. Hidden Markov Model (HMM) is an interpretable machine learning technique for modeling temporal data that is commonly used post-hoc to analyse latent learning processes. In this paper, we contribute by proposing an HMM-based intervention methodology for assessing and classifying the state of the student as either productive or unproductive in soft real-time. The system identifies and tracks states and patterns not conducive to learning, and a robot intervention is triggered whenever a too-high non-productive engagement is detected. In a pilot study with 22 children, we evaluate this methodology in terms of both 1) the effectiveness of the interventions on the students’ learning gains and on behaviors found conducive to learning, and 2) the students’ perception of the robotic interventions. Results suggest that the robot interventions have a positive effect on the post-test scores relative to the baseline robot, although there isn’t a significant difference in the learning gains. Moreover, interventions that try to induce reflective behaviors are most effective in inducing the required learning behavior, followed by communication-inducing interventions. Lastly, students’ perception of intervention usefulness does not reflect their actual effectiveness.

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How a Social Robot’s Vocalization Affects Children’s Speech, Learning, and Interaction

How a Social Robot’s Vocalization Affects Children’s Speec...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Lauren L. Wright Aditi Kothiyal Kai O. Arras Barbara Bruno Computer-Human Interaction in Learning and Instruction (CHILI) Lab Swiss Federal Institute of Technology in Lausanne (EPFL) Switzerland Bosch Corporate Research Stuttgart

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

A wider incorporation of robots into classrooms is hampered by current technological limitations on full autonomy in social robots. Automated speech recognition, for example, a key enabler for vocal communication, is still unable to perform with sufficient accuracy. Past studies have shown that humans adjust their speech patterns to accommodate less skilled interlocutors. If such a response holds in human-robot interactions as well, we may be able to exploit it to lessen the burden on social robots and enable rich, autonomous vocal communication. In this paper we explore whether a robot’s speaking ability could have an impact on children’s speech patterns, learning, and engagement by designing an interaction where a child and a robot collaborate on a Tower of Hanoi puzzle. Sixteen children aged 7-14 completed this collaborative task partnered with a social robot that communicated with either high verbal (full sentences), low verbal (short phrases or single words), or nonverbal (sound-based utterances) vocalization. While we found no significant impact on children’s speech patterns or learning due to the robot’s method of vocalization, children in the non-verbal condition had a significantly lower perception of the robot’s intelligence along with higher rates of providing feedback and more instances of undoing its moves. This suggests that a link may exist between a robot’s perceived speaking ability and children’s confidence in that robot’s overall intelligence and capability in a collaborative task, as well as their empathy towards a peer they perceive as less skilled in the task.

关键词： Social robots Poles and towers Education Collaboration Speech recognition Aging Speech

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Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain

arXiv

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arXiv 2022年

作者： Schmid, Robin Atha, Deegan Schöller, Frederik Dey, Sharmita Fakoorian, Seyed Otsu, Kyohei Ridge, Barry Bjelonic, Marko Wellhausen, Lorenz Hutter, Marco Agha-Mohammadi, Ali-Akbar PasadenaCA United States Swiss Federal Institute of Technology ETH Zürich Robotic Systems Lab Switzerland University of Goettingen Department of Computer Science Germany Technical University of Denmark Department of Electrical Engineering and Photonics Denmark

Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning from images annotated by a human expert. This requires a significant investment in human time, assumes correct expert classification, and small details can lead to misclassification. To address these challenges, we propose a method for predicting high- and low-risk terrains from only past vehicle experience in a self-supervised fashion. First, we develop a tool that projects the vehicle trajectory into the front camera image. Second, occlusions in the 3D representation of the terrain are filtered out. Third, an autoencoder trained on masked vehicle trajectory regions identifies low- and high-risk terrains based on the reconstruction error. We evaluated our approach with two models and different bottleneck sizes with two different training and testing sites with a four-wheeled off-road vehicle. Comparison with two independent test sets of semantic labels from similar terrain as training sites demonstrates the ability to separate the ground as low-risk and the vegetation as high-risk with 81.1% and 85.1% accuracy. Copyright © 2022, The Authors. All rights reserved.

关键词： Off road vehicles

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The Unconstrained Ear Recognition Challenge 2023: Maximizing Performance and Minimizing Bias*

The Unconstrained Ear Recognition Challenge 2023: Maximizing...

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IEEE International Joint Conference on Biometrics (IJCB)

作者： Ž. Emeršić T. Ohki M. Akasaka T. Arakawa S. Maeda M. Okano Y. Sato A. George S. Marcel I. I. Ganapathi S. S. Ali S. Javed N. Werghi S. G. Işık E. Sarıtaş H. K. Ekenel V. Hudovernik J. N. Kolf F. Boutros N. Damer G. Sharma A. Kamboj A. Nigam D. K. Jain G. Cámara-Chávez P. Peer V. Štruc University of Ljubljana (UL SI) Shizuoka University (SU JP) Idiap Research Institute (IDIAP CH) Electrical Engineering and Computer Science Department Khalifa University (KU UAE) Department of Computer Engineering (ITU TR) Istanbul Technical University Microelectronic Guidance and Electro-Optical Group ASELSAN Fraunhofer Institute for Computer Graphics Research IGD (IGD DE) Technische Universität Darmstadt (TUD DE) Indian Institute of Technology Mandi (IIT IN) HCL Imaging and Robotics R&D Lab (HCL IN) School of Artificial Intelligence Dalian University of Technology (DLUT CN) Federal University of Ouro Preto (UFOP BR)

The paper provides a summary of the 2023 Unconstrained Ear Recognition Challenge (UERC), a benchmarking effort focused on ear recognition from images acquired in uncontrolled environments. The objective of the challenge was to evaluate the effectiveness of current ear recognition techniques on a challenging ear dataset while analyzing the techniques from two distinct aspects, i.e., verification performance and bias with respect to specific demographic factors, i.e., gender and ethnicity. Seven research groups participated in the challenge and submitted a seven distinct recognition approaches that ranged from descriptor-based methods and deep-learning models to ensemble techniques that relied on multiple data representations to maximize performance and minimize bias. A comprehensive investigation into the performance of the submitted models is presented, as well as an in-depth analysis of bias and associated performance differentials due to differences in gender and ethnicity. The results of the challenge suggest that a wide variety of models (e.g., transformers, convolutional neural networks, ensemble models) is capable of achieving competitive recognition results, but also that all of the models still exhibit considerable performance differentials with respect to both gender and ethnicity. To promote further development of unbiased and effective ear recognition models, the starter kit of UERC 2023 together with the baseline model, and training and test data is made available from: http://***/

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When Positive Perception of the Robot Has No Effect on Learning

When Positive Perception of the Robot Has No Effect on Learn...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jauwairia Nasir Utku Norman Barbara Bruno Pierre Dillenbourg Computer-Human Interaction in Learning and Instruction (CHILI) Lab Swiss Federal Institute of Technology in Lausanne (EPFL) Switzerland MOBOTS group within the Biorobotics Laboratory (BioRob) Swiss Federal Institute of Technology in Lausanne (EPFL) Switzerland

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

Humanoid robots, with a focus on personalised social behaviours, are increasingly being deployed in educational settings to support learning. However, crafting pedagogical HRI designs and robot interventions that have a real, positive impact on participants' learning, as well as effectively measuring such impact, is still an open challenge. As a first effort in tackling the issue, in this paper we propose a novel robot-mediated, collaborative problem solving activity for school children, called JUSThink, aiming at improving their computational thinking skills. JUSThink will serve as a baseline and reference for investigating how the robot's behaviour can influence the engagement of the children with the activity, as well as their collaboration and mutual understanding while working on it. To this end, this first iteration aims at investigating (i) participants' engagement with the activity (Intrinsic Motivation Inventory-IMI), their mutual understanding (IMIlike) and perception of the robot (Godspeed Questionnaire); (ii) participants' performance during the activity, using several performance and learning metrics. We carried out an extensive user-study in two international schools in Switzerland, in which around 100 children participated in pairs in one-hour long interactions with the activity. Surprisingly, we observe that while a teams' performance significantly affects how team members evaluate their competence, mutual understanding and task engagement, it does not affect their perception of the robot and its helpfulness, a fact which highlights the need for baseline studies and multi-dimensional evaluation metrics when assessing the impact of robots in educational activities.

关键词： Conferences Humanoid robots Collaboration Particle measurements Collaborative work Task analysis Robots

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Robot Analytics: What Do Human-Robot Interaction Traces Tell Us About Learning?

Robot Analytics: What Do Human-Robot Interaction Traces Tell...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jauwairia Nasir Utku Norman Wafa Johal Jennifer K. Olsen Sina Shahmoradi Pierre Dillenbourg Computer-Human Interaction in Learning and Instruction (CHILI) Lab Swiss Federal Institute of Technology in Lausanne (EPFL) Switzerland

In this paper, we propose that the data generated by educational robots can be better used by applying learning analytics methods and techniques which can lead to a deeper understanding of the learners' apprehension and behavior as well as refined guidelines for roboticists and improved interventions by the teachers. As a step towards this, we put forward analyzing behavior and task performance at team and/or individual levels by coupling robot data with the data from conventional methods of assessment through quizzes. Classifying learners/teams in the behavioral feature space with respect to the task performance gives insight into the behavior patterns relevant for high performance, which could be backed by feature ranking. As a use case, we present an open-ended learning activity using tangible haptic-enabled Cellulo robots in a classroom-level setting. The pilot study, spanning over approximately an hour, is conducted with 25 children in teams of two that are aged between 11-12. A linear separation is observed between the high and low performing teams where two of the behavioral features, namely number of distinct attempts and the visits to the destination, are found to be important. Although the pilot study in its current form has limitations, e.g. its low sample size, it contributes to highlighting the potential of the use of learning analytics in educational robotics.

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