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Register a new userLearning Social Affordance Grammar from Videos: Transferring Human Interactions to Human-Robot Interactions
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Added by
Tianmin Shu
Publication date
2017
fields
Informatics Engineering
and research's language is
English
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In this paper, we present a general framework for learning social affordance grammar as a spatiotemporal AND-OR graph (ST-AOG) from RGB-D videos of human interactions, and transfer the grammar to humanoids to enable a real-time motion inference for human-robot interaction (HRI). Based on Gibbs sampling, our weakly supervised grammar learning can automatically construct a hierarchical representation of an interaction with long-term joint sub-tasks of both agents and short term atomic actions of individual agents. Based on a new RGB-D video dataset with rich instances of human interactions, our experiments of Baxter simulation, human evaluation, and real Baxter test demonstrate that the model learned from limited training data successfully generates human-like behaviors in unseen scenarios and outperforms both baselines.
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In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and human-object-human) interactions, describing how body-parts of each agent move with respect to each other and what spatial relations they should maintain to complete each sub-event (i.e., sub-goal). This enables the robot to infer its own movement in reaction to the human body motion, allowing it to naturally replicate such interactions. We introduce the representation of social affordance and propose a generative model for its weakly supervised learning from human demonstration videos. Our approach discovers critical steps (i.e., latent sub-events) in an interaction and the typical motion associated with them, learning what body-parts should be involved and how. The experimental results demonstrate that our Markov Chain Monte Carlo (MCMC) based learning algorithm automatically discovers semantically meaningful interactive affordance from RGB-D videos, which allows us to generate appropriate full body motion for an agent.
Since the late 1990s when speech companies began providing their customer-service software in the market, people have gotten used to speaking to machines. As people interact more often with voice and gesture controlled machines, they expect the machines to recognize different emotions, and understand other high level communication features such as humor, sarcasm and intention. In order to make such communication possible, the machines need an empathy module in them which can extract emotions from human speech and behavior and can decide the correct response of the robot. Although research on empathetic robots is still in the early stage, we described our approach using signal processing techniques, sentiment analysis and machine learning algorithms to make robots that can understand human emotion. We propose Zara the Supergirl as a prototype system of empathetic robots. It is a software based virtual android, with an animated cartoon character to present itself on the screen. She will get smarter and more empathetic through its deep learning algorithms, and by gathering more data and learning from it. In this paper, we present our work so far in the areas of deep learning of emotion and sentiment recognition, as well as humor recognition. We hope to explore the future direction of android development and how it can help improve peoples lives.
Teaching an anthropomorphic robot from human example offers the opportunity to impart humanlike qualities on its movement. In this work we present a reinforcement learning based method for teaching a real world bipedal robot to perform movements directly from human motion capture data. Our method seamlessly transitions from training in a simulation environment to executing on a physical robot without requiring any real world training iterations or offline steps. To overcome the disparity in joint configurations between the robot and the motion capture actor, our method incorporates motion re-targeting into the training process. Domain randomization techniques are used to compensate for the differences between the simulated and physical systems. We demonstrate our method on an internally developed humanoid robot with movements ranging from a dynamic walk cycle to complex balancing and waving. Our controller preserves the style imparted by the motion capture data and exhibits graceful failure modes resulting in safe operation for the robot. This work was performed for research purposes only.
With the primary objective of human-robot interaction being to support humans goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing formal guarantees for specification satisfaction. There is potential to apply these techniques for devising robot controllers whose specifications are coupled with human needs. This paper explores the use of formal methods to construct human-aware robot controllers to support the productivity requirements of humans. We tackle these types of scenarios via human workload-informed models and reactive synthesis. This strategy allows us to synthesize controllers that fulfill formal specifications that are expressed as linear temporal logic formulas. We present a case study in which we reason about a work delivery and pickup task such that the robot increases worker productivity, but not stress induced by high work backlog. We demonstrate our controller using the Toyota HSR, a mobile manipulator robot. The results demonstrate the realization of a robust robot controller that is guaranteed to properly reason and react in collaborative tasks with human partners.
For a safe, natural and effective human-robot social interaction, it is essential to develop a system that allows a robot to demonstrate the perceivable responsive behaviors to complex human behaviors. We introduce the Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits human-like social interaction skills after 14 days of interacting with people in an uncontrolled real world. Each and every day during the 14 days, the system gathered robot interaction experiences with people through a hit-and-trial method and then trained the MDARQN on these experiences using end-to-end reinforcement learning approach. The results of interaction based learning indicate that the robot has learned to respond to complex human behaviors in a perceivable and socially acceptable manner.
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