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New Developments for Robert Assisting Novice Users Even Better in - PowerPoint PPT Presentation

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New Developments for Robert Assisting Novice Users Even Better in DIY Projects Gregor Behnke , Pascal Bercher, Matthias Kraus, Marvin Schiller, Kristof Mickeleit, Timo H age, Michael Dorna, Michael Dambier, Dietrich Manstetten, Wolfgang

  1. New Developments for Robert Assisting Novice Users Even Better in DIY Projects Gregor Behnke , Pascal Bercher, Matthias Kraus, Marvin Schiller, Kristof Mickeleit, Timo H¨ age, Michael Dorna, Michael Dambier, Dietrich Manstetten, Wolfgang Minker, Birte Glimm, Susanne Biundo Ulm University / University of Freiburg 30/10/2020

  2. New Developments for Robert Gregor Behnke, Uni Freiburg Do-It-Yourself Projects 2/11

  3. New Developments for Robert Gregor Behnke, Uni Freiburg Do-It-Yourself Projects 2/11

  4. New Developments for Robert Gregor Behnke, Uni Freiburg Do-It-Yourself Projects 2/11

  5. New Developments for Robert Gregor Behnke, Uni Freiburg Do-It-Yourself Projects 2/11

  6. New Developments for Robert Gregor Behnke, Uni Freiburg Do-It-Yourself Projects 2/11

  7. New Developments for Robert Gregor Behnke, Uni Freiburg Do-It-Yourself Projects 2/11

  8. New Developments for Robert Gregor Behnke, Uni Freiburg Do-It-Yourself Projects 2/11

  9. New Developments for Robert Gregor Behnke, Uni Freiburg Assisting DIYers 3/11

  10. New Developments for Robert Gregor Behnke, Uni Freiburg Assisting DIYers 3/11

  11. New Developments for Robert Gregor Behnke, Uni Freiburg Assisting DIYers 3/11

  12. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert 4/11

  13. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as 5/11

  14. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as • Text 5/11

  15. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as • Text • Images 5/11

  16. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as • Text • Images • Videos 5/11

  17. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as • Text • Images • Videos • Interaction via speech and touch 5/11

  18. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as • Text • Images • Videos • Interaction via speech and touch • HTN domain provides useful abstraction 5/11

  19. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as • Text • Images • Videos • Interaction via speech and touch • HTN domain provides useful abstraction • Allows changes to the presented plan 5/11

  20. New Developments for Robert Gregor Behnke, Uni Freiburg Assistance delivered by Robert • Actions are presented as • Text • Images • Videos • Interaction via speech and touch • HTN domain provides useful abstraction • Allows changes to the presented plan • Proactivity using Connected Tool 5/11

  21. New Developments for Robert Gregor Behnke, Uni Freiburg Robert’s components • (HTN-)Planner 6/11

  22. New Developments for Robert Gregor Behnke, Uni Freiburg Robert’s components • (HTN-)Planner • Ontology Manager 6/11

  23. New Developments for Robert Gregor Behnke, Uni Freiburg Robert’s components • (HTN-)Planner • Ontology Manager • Dialogue Manager 6/11

  24. New Developments for Robert Gregor Behnke, Uni Freiburg Robert’s components • (HTN-)Planner • Ontology Manager • Dialogue Manager • User Interface 6/11

  25. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan The user might not like the presented plan! 7/11

  26. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan The user might not like the presented plan! vs 7/11

  27. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan The user might not like the presented plan! vs • We can’t know the user’s preference in beforehand. 7/11

  28. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan The user might not like the presented plan! vs • We can’t know the user’s preference in beforehand. ⇒ React to the user’s whishes. 7/11

  29. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the user 8/11

  30. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user 8/11

  31. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user • Transform request into LTL 8/11

  32. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user • Transform request into LTL φ = G ¬ sawElectric ∧ E sawManually 8/11

  33. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user • Transform request into LTL φ = G ¬ sawElectric ∧ E sawManually • Find plan that satisfies formula 8/11

  34. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user • Transform request into LTL φ = G ¬ sawElectric ∧ E sawManually π | = φ • Find plan that satisfies formula 8/11

  35. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user • Transform request into LTL φ = G ¬ sawElectric ∧ E sawManually π | = φ • Find plan that satisfies formula • Accumulate set of formulae for multiple requests 8/11

  36. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user • Transform request into LTL φ = G ¬ sawElectric ∧ E sawManually π | = φ • Find plan that satisfies formula • Accumulate set of formulae φ 1 , φ 2 , . . . for multiple requests 8/11

  37. New Developments for Robert Gregor Behnke, Uni Freiburg Changing the Plan • Receive request from the U: I want to use the manual saw instead of the electric one. user • Transform request into LTL φ = G ¬ sawElectric ∧ E sawManually π | = φ • Find plan that satisfies formula • Accumulate set of formulae φ 1 , φ 2 , . . . for multiple requests What about inconsistencies? = � φ i , drop the oldest one ⇒ If ¬∃ π : π | 8/11

  38. New Developments for Robert Gregor Behnke, Uni Freiburg Connected Tool 9/11

  39. New Developments for Robert Gregor Behnke, Uni Freiburg Connected Tool • Sensors to PSR18Li • Gyroscopic • Accelerometric • Compass 9/11

  40. New Developments for Robert Gregor Behnke, Uni Freiburg Connected Tool • Sensors to PSR18Li • Gyroscopic • Accelerometric • Compass • Trained Neural Network using data from 12 subjects 9/11

  41. New Developments for Robert Gregor Behnke, Uni Freiburg Connected Tool • Sensors to PSR18Li • Gyroscopic • Accelerometric • Compass • Trained Neural Network using data from 12 subjects • Recognise Activities • off • screwing • drilling • drill change • battery change • other 9/11

  42. New Developments for Robert Gregor Behnke, Uni Freiburg Proactivity We now know what the user is doing! 10/11

  43. New Developments for Robert Gregor Behnke, Uni Freiburg Proactivity We now know what the user is doing! ⇒ Help the user complete his project with suitable dialogue strategies 10/11

  44. New Developments for Robert Gregor Behnke, Uni Freiburg Proactivity We now know what the user is doing! ⇒ Help the user complete his project with suitable dialogue R: You seem to be working with strategies the connected tool for the • Inform the user of the connected first time. Don’t worry, I’ll tool guide you through the steps! 10/11

  45. New Developments for Robert Gregor Behnke, Uni Freiburg Proactivity We now know what the user is doing! R: I noticed that you were drilling. Did that work? ⇒ Help the user complete his U: No, it didn’t. project with suitable dialogue R: Ok, do you need additional strategies help? • Inform the user of the connected U: Yes, please. tool R: A video of this project step • Supportive questions could help. I’m going to play it for you. (Then a video is played.) 10/11

  46. New Developments for Robert Gregor Behnke, Uni Freiburg Proactivity We now know what the user is doing! ⇒ Help the user complete his project with suitable dialogue R: I haven’t seen any tool strategies activity by you in three • Inform the user of the connected minutes. Do you need help? tool U: ... • Supportive questions • Handle inactivity 10/11

  47. New Developments for Robert Gregor Behnke, Uni Freiburg Eval We evaluated changing the plan and proactivity 11/11

  48. New Developments for Robert Gregor Behnke, Uni Freiburg Eval We evaluated changing the plan and proactivity • A/B test for proactivity ( n = 32, even split) 11/11

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