A study of interaction between dialog and decision for human-robot collaborative task achievement (original) (raw)

Coordinating Shared Tasks in Human-Robot Collaboration by Commands

Frontiers in Robotics and AI, 2021

Human-robot collaboration is gaining more and more interest in industrial settings, as collaborative robots are considered safe and robot actions can be programmed easily by, for example, physical interaction. Despite this, robot programming mostly focuses on automated robot motions and interactive tasks or coordination between human and robot still requires additional developments. For example, the selection of which tasks or actions a robot should do next might not be known beforehand or might change at the last moment. Within a human-robot collaborative setting, the coordination of complex shared tasks, is therefore more suited to a human, where a robot would act upon requested commands.In this work we explore the utilization of commands to coordinate a shared task between a human and a robot, in a shared work space. Based on a known set of higher-level actions (e.g., pick-and-placement, hand-over, kitting) and the commands that trigger them, both a speech-based and graphical com...

Collaboration, Dialogue, and Human-Robot Interaction

International Journal of Robotic Research, 2002

Teleoperation can be improved if humans and robots work as partners, exchanging information and assisting one another to achieve common goals. In this paper, we discuss the importance of collaboration and dialogue in human-robot systems. We then present collaborative control, a system model in which human and robot collaborate, and describe its use in vehicle teleoperation.

Developing Human-Robot Dialogue Management Formally

2005

In shared-control systems, such as intelligent service robots, a human operator and an automated technical system are interdependently in charge of control. Natural Language dialogues have long been acknowledged as a potentially fruitful modality for instructing, describing and negotiating in human-machine interfaces. Since shared-control systems are often embedded in safety-critical devices, formal methods are thus widely used for improving the quality of such systems. In this paper, we present a formal method based approach for dialogue management and show how it enhances the clarity of dialog modelling, provides several engineering properties (e.g., validation, test and simulation) and supports the generation of clarification subdialogues.

Human-robot interaction through spoken language dialogue

2000

Abstract The development of robots that are able to accept instructions, via a friendly interface, in terms of concepts that are familiar to a human user remains a challenge. It is argued that designing and building such intelligent robots can be seen as the problem of integrating four main dimensions: human-robot communication, sensory motor skills and perception, decision-making capabilities, and learning.

Collaboration, dialogue, human-robot interaction

Robotics Research, 2003

Teleoperation can be significantly improved if humans and robots work as partners. By adapting autonomy and human-robot interaction to the situation and the user, we can create systems which are easier to use and better performing. In this paper, we discuss the importance of collaboration and dialogue in human-robot systems. We then present a system based on collaborative control, a teleoperation model in which humans and robots collaborate to perform tasks. Finally, we describe our experiences using this system for vehicle teleoperation.

Following Assembly Plans in Cooperative, Task-Based Human-Robot Dialogue

2000

The JAST dialogue system allows a human and a robot to jointly assemble construction toys on a common work area. Supporting this type of dialogue requires that the system have a representation of assembly plans that per- mits it both to discuss the details of the plan and to monitor its execution. We present a conceptual representation of assembly plans

Collaborative Planning and Negotiation in Human-Robot Teams

Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

Our work aims to apply iterative communication techniques to improve functionality of human-robot teams working in space and other high-risk environments. Forms of iterative communication include progressive incorporation of human preference and otherwise latent task specifications. Our prior work found that humans would choose not to comply with robot-provided instructions and then proceed to self-justify their choices despite the risks of physical harm and blatant disregard for rules. Results clearly showed that humans working near robots are willing to sacrifice safety for efficiency. Current work aims to improve communication by iteratively incorporating human preference into optimized path planning for human-robot teams operating over large areas. Future work will explore the extent to which negotiation can be used as a mechanism for improving task planning and joint task execution for humans and robots. CCS CONCEPTS • Human-centered computing → Mixed / augmented reality; • Computer systems organization → Robotics.

Robot command, interrogation and teaching via social interaction

2005

The development of high performance robot platforms provides complex systems with which humans must interact, and levy serious requirements on the quality and depth of these interactions. At the same time, developments in spoken language technology, and in theories of social cognition and intentional cooperative behavior provide the technical basis and theoretical background respectively for the technical specification of how these systems can work.

On Planning and Task Achievement Modalities for Human-Robot Collaboration

Springer Tracts in Advanced Robotics, 2015

In this paper we present a robot supervision system designed to be able to execute collaborative tasks with humans in a flexible and robust way. Our system is designed to take into account the different preferences of the human partners, providing three operation modalities to interact with them. The robot is able to assume a leader role, planning and monitoring the execution of the task for itself and the human, to act as assistent of the human partner, following his orders, and also to adapt its plans to the human actions. We present several experiments that show that the robot can execute collaborative tasks with humans.

Towards a dialog strategy for handling miscommunication in human-robot dialog

19th International Symposium in Robot and Human Interactive Communication, 2010

This paper presents a first theoretical framework for a dialog strategy handling miscommunication in natural language Human-Robot Interaction (HRI). On the one hand the dialog strategy is deduced from findings about humanhuman communication patterns and coping strategies for miscommunication. On the other hand, relevant cognitive theories concerning human perception serve as a conceptual basis for the dialog strategy. The novel approach is firstly to combine these communication patterns with coping strategies and cognitive theories from human-human interaction (HHI) and secondly transfer them to HRI as a general dialog strategy for handling miscommunication. The presented approach is applicable to any task-oriented dialog. In a first step the conversational context is confined to route descriptions, given that asking for directions is an restricted but nevertheless challenging example for taskoriented dialog between humans and a robot.