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RI: Medium: An Interaction Manager for Language and Force Exhanges in Human-Robot Physical Collaboration

RI：Medium：人机物理协作中语言和力交换的交互管理器

基本信息

批准号：
1705058
负责人：
Milos Zefran
金额：
$ 104.86万
依托单位：
University of Illinois at Chicago
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-08-01 至 2023-07-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1705058&HistoricalAwards=false
关键词：
RI Medium Interaction Manager Language

项目摘要

This project will develop a computational and data-driven framework for a robot assistant to collaborate with humans in everyday tasks that involve physical interaction, such as handing over or moving an object together. Using models learned from observing humans perform such tasks, the robot will engage in back-and-forth communication, where turns can be both spoken utterances and force exchanges. Robots that can collaborate to perform physical tasks could provide assistance in a variety of settings, such as performing household chores, supporting the elderly to remain independent, and assisting human workers on the factory floor.The transformative idea of the proposal is to generalize the methodology of dialog processing to include physical interaction. The fundamental challenge is how to bridge the gap between the symbolic processing of language and the low-level control of force exchanges. The concept of interaction primitives (IPs) is introduced to model physical interactions. Further, a planning and execution framework in the form of an interaction manager is proposed. The proposed interaction manager broadens the traditional dialogue modeling paradigm so that information can flow from more abstract to lower levels, and vice versa: language affects physical interaction, and physical interaction affects what is said. To build the interaction manager, a targeted data collection where humans perform tasks of interest will be performed. Since physical interaction data is invariably sparse, statistical learning on the data will be complemented by model-based generalizations, allowing robots to collaborate with humans in highly variable and unstructured environments. The research will inform new course development, and involve several undergraduate and graduate students.

该项目将为机器人助手开发一个计算和数据驱动的框架，以便在涉及物理交互的日常任务中与人类合作，例如一起移交或移动物体。使用从观察人类执行此类任务中学习到的模型，机器人将进行来回通信，其中轮流可以是口头话语和力量交换。可以协作执行物理任务的机器人可以在各种设置中提供帮助，例如执行家务，支持老年人保持独立，以及在工厂车间协助人类工人。该提案的变革思想是将对话处理的方法推广到包括物理交互。根本的挑战是如何弥合语言的符号处理和力量交换的低层次控制之间的差距。引入了交互原语的概念来对物理交互进行建模。此外，提出了一个规划和执行框架的交互管理器的形式。所提出的交互管理器拓宽了传统的对话建模范式，使信息可以从更抽象的流到较低的层次，反之亦然：语言影响物理交互，物理交互影响说什么。为了构建交互管理器，将执行人类执行感兴趣任务的目标数据收集。由于物理交互数据总是稀疏的，对数据的统计学习将通过基于模型的概括来补充，使机器人能够在高度可变和非结构化的环境中与人类合作。这项研究将为新课程的开发提供信息，并涉及几名本科生和研究生。

项目成果

期刊论文数量（12）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

An End-to-End Human Simulator for Task-Oriented Multimodal Human-Robot Collaboration

DOI：
10.1109/ro-man57019.2023.10309444
发表时间：
2023-04
期刊：
2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
影响因子：
0
作者：
Afagh Mehri Shervedani;S. Li;Natawut Monaikul;Bahareh Abbasi;Barbara Maria Di Eugenio;M. Žefran
通讯作者：
Afagh Mehri Shervedani;S. Li;Natawut Monaikul;Bahareh Abbasi;Barbara Maria Di Eugenio;M. Žefran

Role Switching in Task-Oriented Multimodal Human-Robot Collaboration

面向任务的多模式人机协作中的角色切换

DOI：
10.1109/ro-man47096.2020.9223461
发表时间：
2020
期刊：
IEEE International Conference on Robot and Human Interactive Communication (RoMan
影响因子：
0
作者：
Monaikul, N.;Abbasi, B.;Risbek, Z.;Di Eugenio, B.;Zefran, M.
通讯作者：
Zefran, M.

Recognizing Intent in Collaborative Manipulation

识别协作操作的意图

DOI：
10.1145/3577190.3614174
发表时间：
2023
期刊：
ACM
影响因子：
0
作者：
Rysbek, Zhanibek;Oh, Ki-Hwan;Zefran, Milos
通讯作者：
Zefran, Milos

The Structured Distance to the Nearest System Without Property P

没有属性 P 的到最近系统的结构化距离

DOI：
10.1109/tac.2018.2817163
发表时间：
2018
期刊：
IEEE Transactions on Automatic Control
影响因子：
6.8
作者：
Johnson, Scott C.;Wicks, Mark;Zefran, Milos;DeCarlo, Raymond A.
通讯作者：
DeCarlo, Raymond A.

Group-based control of large-scale micro-robot swarms with on-board Physical Finite-State Machines

具有机载物理有限状态机的大规模微型机器人群的基于群体的控制

DOI：
10.1109/case49997.2022.9926706
发表时间：
2022
期刊：
2022 IEEE 18th International Conference on Automation Science and Engineering (CASE
影响因子：
0
作者：
Li, Siyu;Zefran, Milos;Paprotny, Igor
通讯作者：
Paprotny, Igor