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1. Towards a Modular and Distributed End-User Development Framework for Human-Robot Interaction

Author

Enrique Coronado, Dominique Deuff, Pamela Carreno-Medrano, Leimin Tian, Dana Kulic, Shanti Sumartojo, Fulvio Mastrogiovanni, and Gentiane Venture

Subjects
Robotics, human-robot interaction, end-user development, robot programming, social robots, service robots, Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming interfaces, as well as the modeling and execution of robot behaviors, with a specific emphasis on social behaviors. Programming interfaces built on top of RIZE enable professionals with different backgrounds and interests to design, adapt, and scale-up robotics applications. As an example of a programming interface, we present Open RIZE, which exploits an End-User Programming paradigm combining blocks, tables, and forms-filling interfaces. Unlike previous approaches, robot behavioral code generated by Open RIZE is intrinsically modular, re-usable, scalable, neutral to the employed programming language, and platform-agnostic. In the article, we present the main design guidelines and features of Open RIZE. Additionally, we perform an initial usability evaluation of the Open RIZE interface in an online workshop. Preliminary results using the System Usability Scale with 10 novice end-users indicate that Open RIZE is easy-to-use and learn.

Published
2021
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2. Robots in public spaces: implications for policy design

Author

Michael Mintrom, Leimin Tian, Pamela Carreno-Medrano, Aimee Allen, Dana Kulic, and Shanti Sumartojo

Subjects
Public Administration, Human–computer interaction, business.industry, Computer science, Political Science and International Relations, Robot, Robotics, Artificial intelligence, Policy design, business, Human–robot interaction, Disruptive technology
Abstract

Rapid advances in digital technologies have allowed robots to become more autonomous and efficacious than ever before. Future developments in robotics hold the potential to transform human robot in...

Published
2021
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3. Towards a Modular and Distributed End-User Development Framework for Human-Robot Interaction

Author

Shanti Sumartojo, Dominique Deuff, Fulvio Mastrogiovanni, Pamela Carreno-Medrano, Dana Kulic, Enrique Coronado, Leimin Tian, and Gentiane Venture

Subjects
0209 industrial biotechnology, General Computer Science, Computer science, Interface (Java), end-user development, 02 engineering and technology, social robots, human-robot interaction, 020901 industrial engineering & automation, Software, Human–computer interaction, 0202 electrical engineering, electronic engineering, information engineering, General Materials Science, Social robot, business.industry, System usability scale, General Engineering, 020207 software engineering, Usability, Robotics, Modular design, robot programming, Visualization, service robots, End-user development, Programming paradigm, Task analysis, Robot, lcsh:Electrical engineering. Electronics. Nuclear engineering, business, lcsh:TK1-9971
Abstract

In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming interfaces, as well as the modeling and execution of robot behaviors, with a specific emphasis on social behaviors. Programming interfaces built on top of RIZE enable professionals with different backgrounds and interests to design, adapt, and scale-up robotics applications. As an example of a programming interface, we present Open RIZE, which exploits an End-User Programming paradigm combining blocks, tables, and forms-filling interfaces. Unlike previous approaches, robot behavioral code generated by Open RIZE is intrinsically modular, re-usable, scalable, neutral to the employed programming language, and platform-agnostic. In the article, we present the main design guidelines and features of Open RIZE. Additionally, we perform an initial usability evaluation of the Open RIZE interface in an online workshop. Preliminary results using the System Usability Scale with 10 novice end-users indicate that Open RIZE is easy-to-use and learn.

Published
2021

4. Objective learning from human demonstrations

Author

Jonathan Feng-Shun Lin, Dana Kulic, Maram Sakr, Pamela Carreno-Medrano, and Mahsa Parsapour

Subjects
Structure (mathematical logic), 0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, 02 engineering and technology, Data science, Identification (information), 020901 industrial engineering & automation, Control and Systems Engineering, Inverse reinforcement learning, Similarity (psychology), 0202 electrical engineering, electronic engineering, information engineering, Key (cryptography), Inverse optimal control, Reward learning, Software
Abstract

Researchers in biomechanics, neuroscience, human–machine interaction and other fields are interested in inferring human intentions and objectives from observed actions. The problem of inferring objectives from observations has received extensive theoretical and methodological development from both the controls and machine learning communities. In this paper, we provide an integrating view of objective learning from human demonstration data. We differentiate algorithms based on the assumptions made about the objective function structure, how the similarity between the inferred objectives and the observed demonstrations is assessed, the assumptions made about the agent and environment model, and the properties of the observed human demonstrations. We review the application domains and validation approaches of existing works and identify the key open challenges and limitations. The paper concludes with an identification of promising directions for future work.

Published
2021
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5. Joint Estimation of Expertise and Reward Preferences From Human Demonstrations

Author

Pamela Carreno-Medrano, Stephen L. Smith, and Dana Kulic

Subjects
FOS: Computer and information sciences, Computer Science - Robotics, Control and Systems Engineering, Electrical and Electronic Engineering, Robotics (cs.RO), Computer Science Applications
Abstract

When a robot learns from human examples, most approaches assume that the human partner provides examples of optimal behavior. However, there are applications in which the robot learns from non-expert humans. We argue that the robot should learn not only about the human's objectives, but also about their expertise level. The robot could then leverage this joint information to reduce or increase the frequency at which it provides assistance to its human's partner or be more cautious when learning new skills from novice users. Similarly, by taking into account the human's expertise, the robot would also be able of inferring a human's true objectives even when the human's fails to properly demonstrate these objectives due to a lack of expertise. In this paper, we propose to jointly infer the expertise level and objective function of a human given observations of their (possibly) non-optimal demonstrations. Two inference approaches are proposed. In the first approach, inference is done over a finite, discrete set of possible objective functions and expertise levels. In the second approach, the robot optimizes over the space of all possible hypotheses and finds the objective function and expertise level that best explain the observed human behavior. We demonstrate our proposed approaches both in simulation and with real user data., 17 pages, TRO Submission

Published
2020

6. Challenges for the Animation of Expressive Virtual Characters: The Standpoint of Sign Language and Theatrical Gestures

Author

Sylvie Gibet, Pamela Carreno-Medrano, Pierre François Marteau, Expressiveness in Human Centered Data/Media (EXPRESSION), Université de Bretagne Sud (UBS)-MEDIA ET INTERACTIONS (IRISA-D6), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), MEDIA ET INTERACTIONS (IRISA-D6), CentraleSupélec-Télécom Bretagne-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Université de Bretagne Sud (UBS)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Télécom Bretagne-Université de Rennes 1 (UR1), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)

Subjects
business.industry, Computer science, [SCCO.COMP]Cognitive science/Computer science, 020207 software engineering, 02 engineering and technology, Animation, Sign language, computer.software_genre, Notation, Rotation formalisms in three dimensions, Motion capture, Motion (physics), Human–computer interaction, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Artificial intelligence, Biological plausibility, business, computer, Natural language processing, Gesture
Abstract

International audience; Designing and controlling virtual characters endowed with expressive gestures requires the modeling of multiple processes, involving high-level abstract representations to low-level sensorimotor models. An expressive gesture is here defined as a meaningful bodily motion which intrinsically associates sense, style, and expressiveness. The main challenges rely both on the capability to produce a large spectrum of parametrized actions executed with some variability in various situations, and on the biological plausibility of the motion of the virtual characters. The goals of the paper are twofold. First we review the different formalisms used to describe expressive gestures, from notations to computational languages. Secondly we identify and discuss remaining challenges in the generation of expressive virtual characters. The different models and formalisms are illustrated more particularly for theatrical and sign language gestures.

Published
2015
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7. Corpus Creation and Perceptual Evaluation of Expressive Theatrical Gestures

Author

Caroline Larboulette, Pamela Carreno-Medrano, Sylvie Gibet, Pierre François Marteau, Expressiveness in Human Centered Data/Media (EXPRESSION), Université de Bretagne Sud (UBS)-MEDIA ET INTERACTIONS (IRISA-D6), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), CentraleSupélec-Télécom Bretagne-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Université de Bretagne Sud (UBS)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Télécom Bretagne-Université de Rennes 1 (UR1), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)

Subjects
Communication, business.industry, media_common.quotation_subject, [SCCO.COMP]Cognitive science/Computer science, Animation, Motion capture, Focus (linguistics), Perception, business, Everyday life, Psychology, Human communication, media_common, Gesture
Abstract

International audience; While human communication involves rich, complex and expressive gestures, available corpora of captured motions used for the animation of virtual characters contain actions ranging from locomotion to everyday life motions. We aim at creating a novel corpus of expressive and meaningful gestures, and we focus on body movements and gestures involved in theatrical scenarios. In this paper we propose a methodology for building a corpus of full-body theatrical gestures based on a magician show enriched with affective content. We then validate the constructed corpus of theatrical gestures and sequences through several perceptual studies focusing on the complexity of the produced movements as well as the recognizability of the additional affective content.

Published
2014
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