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2023 IEEE Conference on Control Technology and Applications, CCTA 2023

作者： Chipade, Vishnu S. Gilbert, Alia Harari, Daniel Panagou, Dimitra University of Michigan Department of Aerospace Engineering Ann ArborMI United States University of Michigan Department of Robotics Ann ArborMI United States Weizmann Institute of Science Weizmann Ai Center Department of Computer Science and Applied Math Israel

ISBN: (纸本)9798350335446

In an ideal human-robot collaboration, autonomous robots work side-by-side with humans in a joint workspace, often performing complementary tasks to the humans. A robotic ability to infer human intention and goals directly from human behavior will facilitate the collaboration and maximize its efficiency. In this paper, we focus on inferring which object the human wants picked up next, based on what the human is looking at, by visually following the human gaze and head orientation. We develop a coordination protocol for a team of aerial robots to extract effective human head and gaze cues. The aerial robots are controlled to navigate around the human and collect data that improves the detection of the human's gaze and hence the intended object to be picked up. The effectiveness of the approach is shown using simulations in AirSim, a photo-realistic simulator. © 2023 IEEE.

关键词： Antennas

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On the Faithfulness of Vision Transformer Explanations

arXiv

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arXiv 2024年

作者： Wu, Junyi Kang, Weitai Tang, Hao Hong, Yuan Yan, Yan Department of Computer Science Illinois Institute of Technology United States Robotics Institute Carnegie Mellon University United States Department of Computer Science University of Connecticut United States

To interpret Vision Transformers, post-hoc explanations assign salience scores to input pixels, providing human-understandable heatmaps. However, whether these interpretations reflect true rationales behind the model’s output is still underexplored. To address this gap, we study the faithfulness criterion of explanations: the assigned salience scores should represent the influence of the corresponding input pixels on the model’s predictions. To evaluate faithfulness, we introduce Salience-guided Faithfulness Coefficient (SaCo), a novel evaluation metric leveraging essential information of salience distribution. Specifically, we conduct pair-wise comparisons among distinct pixel groups and then aggregate the differences in their salience scores, resulting in a coefficient that indicates the explanation’s degree of faithfulness. Our explorations reveal that current metrics struggle to differentiate between advanced explanation methods and Random Attribution, thereby failing to capture the faithfulness property. In contrast, our proposed SaCo offers a reliable faithfulness measurement, establishing a robust metric for interpretations. Furthermore, our SaCo demonstrates that the use of gradient and multilayer aggregation can markedly enhance the faithfulness of attention-based explanation, shedding light on potential paths for advancing Vision Transformer explainability. Copyright © 2024, The Authors. All rights reserved.

关键词： Distribution transformers

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Toward Lung Ultrasound Automation: Fully Autonomous Robotic Longitudinal and Transverse Scans Along Intercostal Spaces

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 768-781页

作者： Lei, Long Hu, Yingbai Jiang, Zixing Miao, Juzheng Luo, Xiao Zhang, Yu Wang, Qiong Wang, Shujun Li, Zheng Heng, Pheng-Ann The Chinese University of Hong Kong Department of Computer Science and Engineering Hong Kong Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China The Chinese University of Hong Kong Multi-Scale Medical Robotics Centre Ltd. Hong Kong The Chinese University of Hong Kong Department of Surgery Hong Kong Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen518055 China The Hong Kong Polytechnic University Department of Biomedical Engineering Hong Kong Chow Yuk Ho Technology Centre for Innovative Medicine Li Ka Shing Institute of Health Sciences Multiscale Medical Robotics Centre Ltd. The Chinese University of Hong Kong Department of Surgery Hong Kong

Lung ultrasound scanning is essential for diagnosing lung diseases. The scan effectiveness critically depends on both longitudinal and transverse scans through intercostal spaces to reduce rib shadowing interference, as well as maintaining the probe perpendicular to pleura for pathological artifact generation. Achieving this level of scan quality often depends heavily on the experience of doctors. Robotic ultrasound scanning shows promise, but currently lacks a direct path planning method for intercostal scanning, and probe orientation does not consider imaging differences between lungs and solid organs. In this paper, we aim to fully automate two fundamental operations in lung ultrasound scanning: longitudinal and transverse scans. We propose pioneering path planning methods along intercostal spaces and innovative solutions for adaptive probe posture adjustment using real-time pleural line feedback, specifically addressing the unique characteristics of lung ultrasound scanning. This ensures the acquisition of high-quality, diagnostically meaningful ultrasound images. In addition, we develop a robotic lung ultrasound system to validate the proposed methods. Extensive experimental results on two volunteers and a chest phantom confirm the efficacy of our methods, and demonstrate the system's feasibility in automated lung ultrasound examinations. Our work lays a solid foundation for automated robotic complete lung scanning. © 2018 IEEE.

关键词： Motion planning

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Incentive Mechanism for Throughput Enhancement in Blockchain-based Energy Trading System

Incentive Mechanism for Throughput Enhancement in Blockchain...

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2023 IEEE International Conference on Metaverse Computing, Networking and Applications, MetaCom 2023

作者： Liu, Yunshu Cheung, Man Hon Huang, Jianwei The Chinese University of Hong Kong Department of Information Engineering Hong Kong Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518172 China City University of Hong Kong Department of Computer Science Hong Kong The Chinese University of Hong Kong Shenzhen School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518172 China

ISBN: (纸本)9798350333336

In a blockchain-based energy trading system, prosumers engage in energy trading and simultaneously participate in blockchain mining to process trading transactions. However, as blockchain mining consumes energy, prosumers may lack incentives to participate, resulting in a low blockchain throughput and negatively affecting the energy trading market. To address this issue, we propose a Two-Piece Linear Compensation (TPLC) mechanism to incentivize sufficient participation for blockchain mining. We model the mechanism design as a two-stage game, wherein the system designer proposes the mechanism in Stage I, and prosumers decide on their energy allocation strategies in Stage II. We analyze the complex and coupled interactions of prosumers and uncover the reason for the low throughput issue: a self-interested prosumer neglects the positive externality of energy allocation to the blockchain, as it does not benefit him. Despite the diverse objectives of prosumers and the large search space of the mechanism, we demonstrate that the distributed TPLC mechanism achieves the maximum social welfare of a centralized decision benchmark. The numerical analysis compares the TPLC mechanism with linear compensation and no compensation benchmarks. Our results show that the TPLC mechanism achieves the highest social welfare and average payoff for prosumers. Additionally, the TPLC mechanism supports a large energy market without sacrificing the user experience. © 2023 IEEE.

关键词： Blockchain

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“Thanks for the Practice!”: LLM-Powered Social Robot as Tandem Language Partner at University 25

“Thanks for the Practice!”: LLM-Powered Social Robot as Ta...

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

作者： Ashita Ashok Barbara Bruno Tamara Helf Karsten Berns Department of Computer Science University of Kaiserslautern-Landau Kaiserslautern Germany Institute of Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Large language models (LLMs), when integrated into social robots, have the potential to transform robot-assisted language learning by offering personalized, interactive communication. However, there is limited research exploring their potential to simultaneously reduce anxiety and enhance language-speaking skills among international university students, who often feel anxious when speaking a foreign language. This study addresses this gap by evaluating the impact of a humanoid robot powered by the OpenChat-3.5 LLM as a tandem partner for German language learning. Using a between-subjects design with 22 multilingual participants, two interaction conditions were tested: immersive (German-only) and bilingual (German-English). Our findings indicate that participants in the immersive mode reported experiencing significantly reduced perceived judgment by the robot compared to the bilingual mode. Although female participants showed a trend of greater improvement in learning gain, no significant gender differences were found. Open-ended feedback highlighted the need for enhanced contextual responses, slower speech rate, faster response times, and error corrections to enhance language speaking support. This study aims to advance social robots for learning by demonstrating the usage of generative AI in creating non-judgmental language practice scenarios.

关键词： Generative AI Large language models Social robots Humanoid robots Transforms Speech enhancement Speech Market research Multilingual Time factors

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EFFICIENT IMITATION UNDER MISSPECIFICATION

arXiv

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arXiv 2025年

作者： Espinosa-Dice, Nicolas Choudhury, Sanjiban Sun, Wen Swamy, Gokul Department of Computer Science Cornell University United States Robotics Institute Carnegie Mellon University United States

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and action space expressiveness (e.g. perceptual or morphological differences between robots and humans). Given the learner must make some mistakes in the misspecified setting, interaction with the environment is fundamentally required to figure out which mistakes are particularly costly and lead to compounding errors. However, given the computational cost and safety concerns inherent in interaction, we would like to perform as little of it as possible while ensuring we have learned a strong policy. Accordingly, prior work has proposed a flavor of efficient inverse reinforcement learning algorithms that merely perform a computationally efficient local search procedure with strong guarantees in the realizable setting. We first prove that under a novel structural condition we term reward-agnostic policy completeness, these sorts of local-search based IRL algorithms are able to avoid compounding errors. We then consider the question of where we should perform local search in the first place, given the learner may not be able to "walk on a tightrope" as well as the expert in the misspecified setting. We prove that in the misspecified setting, it is beneficial to broaden the set of states on which local search is performed to include states reachable by good policies that the learner can actually play. We then experimentally explore a variety of sources of misspecification and how offline data can be used to effectively broaden where we perform local search from. © 2025, CC BY.

关键词： Learning algorithms

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APriCoT: Action Primitives based on Contact-state Transition for In-Hand Tool Manipulation

APriCoT: Action Primitives based on Contact-state Transition...

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IEEE-RAS International Conference on Humanoid Robots

作者： Daichi Saito Atsushi Kanehira Kazuhiro Sasabuchi Naoki Wake Jun Takamatsu Hideki Koike Katsushi Ikeuchi Department of Computer Science Institute of Science Tokyo Tokyo Japan Applied Robotics Research Microsoft Redmond WA USA

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

In-hand tool manipulation is an operation that not only manipulates a tool within the hand (i.e., in-hand manipulation) but also achieves a grasp suitable for a task after the manipulation. This study aims to achieve an in-hand tool manipulation skill through deep reinforcement learning. The difficulty of learning the skill arises because this manipulation requires (A) exploring long-term contact-state changes to achieve the desired grasp and (B) highly-varied motions depending on the contact-state transition. (A) leads to a sparsity of a reward on a successful grasp, and (B) requires an RL agent to explore widely within the state-action space to learn highly-varied actions, leading to sample inefficiency. To address these issues, this study proposes Action Primitives based on Contact-state Transition (APriCoT). APriCoT decomposes the manipulation into short-term action primitives by describing the operation as a contact-state transition based on three action representations (detach, crossover, attach). In each action primitive, fingers are required to perform short-term and similar actions. By training a policy for each primitive, we can mitigate the issues from (A) and (B). This study focuses on a fundamental operation as an example of in-hand tool manipulation: rotating an elongated object grasped with a precision grasp by half a turn to achieve the initial grasp. Experimental results demonstrated that ours succeeded in both the rotation and the achievement of the desired grasp, unlike existing studies. Additionally, it was found that the policy was robust to changes in object shape.

关键词： Training Shape Humanoid robots Deep reinforcement learning

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Machine Learning In Sustainable Development-An Overview 1

Machine Learning In Sustainable Development-An Overview

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1st International Conference on Computational Intelligence, Communication Technology and Networking, CICTN 2023

作者： Salama, Ramiz Al-Turjman, Fadi Altrjman, Chadi Gupta, Richa Near East University Ai and Robotics Institute Research Center for Ai and IoT Department of Computer Engineering Nicosia Turkey Near East University Ai and Robotics Institute Artificial Intelligence Engineering Dept. Turkey University of Kyrenia Faculty of Engineering Kyrenia Turkey Waterloo University Canada Graphic Era Hill University Department of Computer Science and Engineering Dehradun India

ISBN: (纸本)9798350338027

I have studied how artificial intelligence (AI) or machine learning (ML) is applied in a sustainable system called "Eugenie"for my work, project, and thesis. In this project, I get to discuss Eugenie's role in ensuring the sustainability of large environmental business organizations. I also get to discuss how it aids operation managers in making predictions about when their machines will break down days, weeks, and months in advance, allowing them to schedule maintenance cycles more effectively. In other words, Eugenie provides plant operators with data so they can prioritize repairs. Eugenie executes this process by utilizing real-time data from numerous sensors attached to large machinery and equipment in the process industry, metals and mining, oil and gas, and smart cities industries. Two products make up this program;the first is named RAY-FINN and the second is called PAPILLON. Eugenie assists businesses in a variety of ways, including:•Aids in the attainment of operational excellence by process organizations•Always raise overall profitability.•Contributes to a greener and safer future. © 2023 IEEE.

关键词： Sustainable development

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Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator

Preprocessing-based Kinodynamic Motion Planning Framework fo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ramkumar Natarajan Hanlan Yang Qintong Xie Yash Oza Manash Pratim Das Fahad Islam Muhammad Suhail Saleem Howie Choset Maxim Likhachev The Robotics Institute School of Computer Science Carnegie Mellon University USA Department of Engineering Science University of Oxford UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the incoming projectile, (ii) predict the projectile’s future motion, (iii) plan a minimum-time rapid trajectory that can evade obstacles and intercept the projectile, and (iv) execute the planned trajectory. These four steps must be performed under the manipulator’s dynamic limits and extreme time constraints (≤ 350ms in our setting) to successfully intercept the projectile. In addition, we want these trajectories to be smooth to reduce the robot’s joint torques and the impulse on the platform on which it is mounted. To this end, we propose a kinodynamic motion planning framework that preprocesses smooth trajectories offline to allow real-time collision-free executions online. We present an end-to-end pipeline along with our planning framework, including perception, prediction, and execution modules. We evaluate our framework experimentally in simulation and show that it has a higher blocking success rate than the baselines. Further, we deploy our pipeline on a robotic system comprising an industrial arm (ABB IRB-1600) and an onboard stereo camera (ZED 2i), which achieves a 78% success rate in projectile interceptions.

关键词： Service robots Projectiles Pipelines Robot vision systems Trajectory Planning Time factors

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Analysis of Causal Factor of Driver Fatigue in the Driving in Different Driving Conditions

Analysis of Causal Factor of Driver Fatigue in the Driving i...

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International Joint Conference on Neural Networks (IJCNN)

作者： Masataka Adachi Sou Nobukawa Keiichiro Inagaki Department of Robotics Science and Engineering Chubu University Kasugai Japan Department of Computer Science Chiba Institute of Technology Narashino Japan Department of Artificial Intelligence and Robotics Chubu University Kasugai Japan

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

Addressing driving fatigue is crucial among the various factors in traffic accidents. The origins of driver fatigue encompass prolonged driving, sleep deprivation, and the induction of stress inherent in driving. The causes of such driver fatigue were categorized into physical factors, including sleep deprivation and prolonged driving, and perceptional-behavioral factors such as perception of driving conditions. Numerous studies have explored technologies to detect driver fatigue in terms of relevance to sleep states, eye movements, electroencephalography (EEG) activation levels, and their functional connectivity. It was also found differences in the occurrence of driver fatigue and related theta and alpha band activity based on driving conditions. However, the factors contributing to these differences remained unexplored. This study seeks to investigate the causal relationship between driver fatigue induced in different driving environments and the corresponding brain activity. We focus on perceptional load, particularly the perception of traffic objects within the driving condition, and physical loads, such as steering, acceleration, and braking, associated with variations in driving environments. In the experiment, we evaluate the relationship between such differences in physical and mental load and the occurrence of fatigue dependent on the driving condition with considering EEG activation patterns. In the results, we found that the amount of load related to driver perception and operation inherent in driving environments plays a crucial role in driver fatigue.

关键词： Sleep Human factors Fatigue Electroencephalography Biological neural networks Accidents

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