Human-Robot Interaction Elective in Artificial Intelligence Lecture 1 - Introduction Luca Iocchi DIAG, Sapienza University of Rome, Italy Readings [Goodrich&Schultz 2007] M. A. Goodrich and A. C. Schultz. Human-Robot Interaction: A Survey. Foundations and Trends in Human-Computer Interaction, 1(3), 2007, pp. 203-275. https://faculty.cs.byu.edu/~mike/mikeg/papers/HRISurvey.pdf [Fong et al. 2003] A Survey of Socially Interactive Robots. Robotics and Autonomous Systems, 42, 2003, pp. 143-166. http://www.cs.cmu.edu/~illah/PAPERS/socialroboticssurvey.pdf 2 L. Iocchi - Human-Robot Interaction
Outline • What is HRI • History • Design features • Applications • Benchmarking • Social Robots • RoboCup@Home 3 L. Iocchi - Human-Robot Interaction What is HRI ? 4 L. Iocchi - Human-Robot Interaction
What is HRI ? • Interaction: the process of working together to accomplish a goal • HRI: “ Understand and shape the interactions between one or more humans and one or more robots ” [Goodrich&Schultz 2007] • Analysis, design, modeling, implementation and evaluation of robots used in applications involving humans Have you been involved in a human-robot interaction task? 5 L. Iocchi - Human-Robot Interaction What is HRI ? • Remote interaction: humans and robots are separated spatially or temporally • Proximate interaction: humans and robots share the same physical space 6 L. Iocchi - Human-Robot Interaction
Motivation for HRI • Increased interest in applications involving HRI (natural interactions with non-expert users). • Deployment of robots in public spaces (houses, offices, schools, roads, hotels, airports, shopping malls, hospitals, …) • Social robotics/social intelligence. 7 L. Iocchi - Human-Robot Interaction Multi-disciplinary HRI • Engineering (mechanical, electrical, …) • Computer science (artificial intelligence, robotics, human-computer interaction, natural language understanding, computer vision, …) • Design (product design, interaction design, …) • Social sciences (psychology, cognitive science, communications, human factors, …) • Humanities (ethics, philosophy, …) 8 L. Iocchi - Human-Robot Interaction
History • Automata and mechanical creatures in ancient Egypt, Greece, and China • Golem – artificial beings • 1495 Leonardo’s Mechanical man • 1800 Radio controlled machines (e.g., Tesla’s boat) • 1920 Karel Chapek’s play Rossum’s Universal Robots 9 L. Iocchi - Human-Robot Interaction History • 1969 – Shakey project • 1992 – First IEEE International Symposium on Robot & Human Interactive Communication (RoMan) • 1999 IEEE RAS TC on Human- Robot Interaction & Coordination • 2006 ACM International Conference on Human-Robot Interaction • 2006 RoboCup@Home • 2009 Intern. Conf. on Social Robotics 10 L. Iocchi - Human-Robot Interaction
Design features [Goodrich&Schultz 2007] • Autonomy • Information Exchange (Communication media and format) • Teams (human-robot teams) • Adaptation, Learning, and Training • Task-Shaping 11 L. Iocchi - Human-Robot Interaction Autonomy 1. R offers no assistance; human does it all. 2. R offers a complete set of action alternatives. 3. R narrows the selection down to a few choices. 4. R suggests a single action. 5. R executes that action if human approves. 6. R allows the human limited time to veto before automatic execution. 7. R executes automatically then necessarily informs the human. 8. R informs human after automatic execution only if human asks. 9. R informs human after automatic execution only if it decides too. 10. R decides everything and acts autonomously, ignoring the human. [Sheridan, Verplank, 1978] 12 L. Iocchi - Human-Robot Interaction
Autonomy and HRI • Full-Autonomy (level 10) • no human in the loop / no HRI • Direct Tele-operation (levels 1-3) • high workload / not scalable / for expert users • High-level interaction (levels 4-9) • Multi-modal communications • Partial autonomy • Suitable for non-expert users • Adjustable autonomy (levels 4-9) • Autonomy levels change and adapt during operation 13 L. Iocchi - Human-Robot Interaction Autonomy in soccer robots Full tele-operation vs. full autonomy 14 L. Iocchi - Human-Robot Interaction
Autonomy in soccer robots 15 L. Iocchi - Human-Robot Interaction Information Exchange 16 L. Iocchi - Human-Robot Interaction
Information Exchange How information is exchanged • Communication media • Vision (visual displays, gestures, body movements) • Audio (speech, natural language) • Touch (physical contacts, haptics) • Multi-modal (integrating many modalities) • Communication format • Scripts/Formal languages • Full natural language • Subset of natural language • Social behaviors/interactions 17 L. Iocchi - Human-Robot Interaction Information Exchange Measures of efficiency • Interaction time • Cognitive workload • Situation awareness • Shared understanding 18 L. Iocchi - Human-Robot Interaction
Vision Processing • Face detection / tracking / recognition (including expressions) • Person detection / tracking / recognition 19 L. Iocchi - Human-Robot Interaction Vision Processing • Virtual faces 20 L. Iocchi - Human-Robot Interaction
Audio Processing • Speech recognition / synthesis 21 L. Iocchi - Human-Robot Interaction Physical interaction • Physical human-robot interaction (pHRI) • Wearable robots 22 L. Iocchi - Human-Robot Interaction
Human-Robot Teams 23 L. Iocchi - Human-Robot Interaction Human-Robot Teams HRI = multi-agent system (at least one robot and one person) Organization of the team • Who takes decisions? • Human (user or designer) • Robot • Interface software • Which levels of robot commands/instructions are used • strategic • tactical • operational 24 L. Iocchi - Human-Robot Interaction
Human-Robot Teams • Conflict resolution • Role definition • robot peer • robot assistant • robot slave • Role assignment • static • dynamic (changes in responsibilities, authorities, roles) 25 L. Iocchi - Human-Robot Interaction Human-Robot Teams • Multi-agent coordination • Centralized • Distributed • Coordination protocol • Coordination with other software agents • Joint intentions and joint actions 26 L. Iocchi - Human-Robot Interaction
Adaptation, Learning, Training • Robot Adaptation, Learning, and Training • Human Adaptation, Learning, and Training • Mutual adaptation for long-term interactions • Learning method • Supervised • Semi-supervised • Reinforcement 27 L. Iocchi - Human-Robot Interaction Task Shaping • How the task should be performed • Robots help users to perform a certain task => The way in which the task is performed changes. • Analysis and design of HRI task execution • Different from Human-Human Interaction (HHI) 28 L. Iocchi - Human-Robot Interaction
Application fields (Ordered by decreasing requirements for social skills) • Home companion • Assistive / health-care / elderly-care / rehabilitation • Edutainment • Tour guide, office assistant • Agriculture, cleaning • Industrial partners • Search and rescue, firefighting, surveillance • Space 29 L. Iocchi - Human-Robot Interaction Human/Robot roles in HRI • Supervisor (monitor and control the overall situation) • Operator (operator intervenes in sw when needed) • Mechanic (operator intervenes in hw when needed) • Peer (high-level interaction about intentions) • Bystander (low-level interaction about a subset of actions) • Mentor (robot has teaching leadership) • Information consumer (human uses information coming from the robot) [Scholtz et al., 2002] 30 L. Iocchi - Human-Robot Interaction
Benchmarking HRI What to measure? • Robot features • Safety • Scalability wrt complex situations in public environments • Single functionalities • Social interaction • Autonomy • Imitation • Privacy 31 L. Iocchi - Human-Robot Interaction Benchmarking HRI What to measure? • Task-Oriented benchmarks • Success • Understanding of the domain by the robot • Understanding robot abilities (and limitations) by human • Assistive evaluation • Usability • Impact • Satisfaction • Quality of Live measures 32 L. Iocchi - Human-Robot Interaction
Godspeed Questionnaire A series of questionnaires to measure the user’s perception of robots. Rates user's impression of the robot about • Anthropomorphism • Animacy • Likeability: • Perceived Intelligence • Perceived Safety [Bartneck et al. 2009] 33 L. Iocchi - Human-Robot Interaction Relation to other disciplines • Robotics • Machine Learning • Autonomous mobile robots • Adaptive behaviors • Actuated faces / manipulators • Imitation • Artificial Intelligence • Natural Language Processing • Knowledge representation • Planning • Speech recognition and • Computer Vision synthesis • Dialogues • Person / face detection/recognition/tracking • Gesture recognition 34 L. Iocchi - Human-Robot Interaction
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