HCC: Medium: Proactive Physical Assistance for Collaborative Human-Robot Teams

HCC：中：人机协作团队的主动物理援助

• 批准号: 2106690
• 负责人: Brian Scassellati
• 金额: $ 120万
• 依托单位: Yale University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-10-01 至 2025-09-30
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2106690&HistoricalAwards=false
• 关键词: HCC; Medium; Proactive; Physical; Assistance

It is essential that robots working side-by-side with people be able to offer physical assistance. However, robots do not yet take the initiative to help. Instead, they typically follow preset plans for collaboration, or respond only when users explicitly ask for help. While useful in many situations, this reactive approach is poorly suited for many collaborative applications. This project focuses on enabling robots to proactively offer physical assistance that is timely, task-appropriate, and wanted by their human partners. The goal is to construct robots that can answer three key questions: (1) Does a teammate need help? (2) Can I (or someone else) help? and (3) Should I help? By enabling these capabilities, this project will make collaborative human-robot teams function more fluently and efficiently. To develop these capabilities, three research thrusts that are naturally intertwined but that capture important computational aspects of these tasks, will be advanced. First, perceiving other agents through a Theory of Mind for robots. The research team will develop computational models derived from our understanding of how humans represent the knowledge, beliefs, and desires of others to maintain context-sensitive models of the mental states of human and robotic teammates. Second, planning for supportive actions. The team will construct a system that generates possible supportive actions that the robot could take to help a teammate by using a trained model of the robot's own capabilities along with a predictive planning system that determines if these actions have value to the team. Third, decision making within the dynamics of a group. The robot will monitor and engage in social activities that support the overall dynamics of its partners including both conventional conversational interfaces and more subtle social mechanisms that facilitate collaboration.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

机器人与人类并肩工作，能够提供物理援助，这一点至关重要。然而，机器人还没有主动出手相助。取而代之的是，他们通常遵循预设的协作计划，或者只在用户明确请求帮助时才回应。虽然这种反应式方法在许多情况下都很有用，但对于许多协作应用程序来说却不太适合。该项目的重点是使机器人能够主动提供及时、适合任务、并得到人类合作伙伴想要的物理援助。我们的目标是建造能够回答三个关键问题的机器人：(1)队友需要帮助吗？(2)我(或其他人)可以帮助吗？以及(3)我应该帮忙吗？通过启用这些功能，该项目将使协作的人类-机器人团队更流畅、更高效地工作。为了发展这些能力，将推进三个自然交织但捕捉到这些任务的重要计算方面的研究推动力。首先，通过机器人的心理理论来感知其他智能体。研究团队将开发计算模型，该模型源于我们对人类如何表示他人的知识、信念和愿望的理解，以维护人类和机器人队友的心理状态的上下文敏感模型。第二，规划扶持行动。该团队将构建一个系统，通过使用机器人自身能力的训练模型以及确定这些行动是否对团队有价值的预测性规划系统，生成机器人可以采取的可能的支持行动来帮助队友。第三，在一个群体的动态中做出决策。该机器人将监控和参与支持其合作伙伴整体动态的社交活动，包括传统的对话界面和更微妙的促进合作的社交机制。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

“We Make a Great Team!”: Adults with Low Prior Domain Knowledge Learn more from a Peer Robot than a Tutor Robot

“我们组成了一支伟大的团队！”：先前领域知识较低的成年人从同伴机器人那里学到的东西比从导师机器人那里学到的更多

• DOI: 10.1109/hri53351.2022.9889441
• 发表时间: 2022
• 期刊: ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022
• 作者: Salomons, Nicole;Pineda, Kaitlynn Taylor;Adejare, Aderonke;Scassellati, Brian
• 通讯作者: Scassellati, Brian

A Social Robot for Anxiety Reduction via Deep Breathing

通过深呼吸减少焦虑的社交机器人

• DOI: 10.1109/ro-man53752.2022.9900638
• 发表时间: 2022
• 期刊: 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN
• 作者: Matheus, Kayla;Vazquez, Marynel;Scassellati, Brian
• 通讯作者: Scassellati, Brian

Interactive Policy Shaping for Human-Robot Collaboration with Transparent Matrix Overlays

• DOI: 10.1145/3568162.3576983
• 发表时间: 2023-03
• 期刊: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction
• 作者: Jake Brawer;Debasmita Ghose;Kate Candon;Meiying Qin;A. Roncone;Marynel Vázquez;B. Scassellati

The Impact of an In-Home Co-Located Robotic Coach in Helping People Make Fewer Exercise Mistakes

家庭办公机器人教练在帮助人们减少锻炼错误方面的作用

• DOI: 10.1109/ro-man53752.2022.9900722
• 发表时间: 2022
• 期刊: 31st IEEE International Conference on Robot & Human Interactive Communication
• 作者: Salomons, Nicole;Wallenstein, Tom;Ghose, Debasmita;Scassellati, Brian
• 通讯作者: Scassellati, Brian

A Social Robot for Improving Interruptions Tolerance and Employability in Adults with ASD

• DOI: 10.1109/hri53351.2022.9889383
• 发表时间: 2022-03
• 期刊: 2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI)
• 作者: Rebecca Ramnauth;Emmanuel Adéníran;Timothy Adamson;Michael A. Lewkowicz;Rohit Giridharan;Caroline Reiner;B. Scassellati