A robot coexisting with humans must not only be able to successfully perform physical tasks, but must also be able to interact with humans in a socially appropriate manner. In many social settings, this involves the use of social signals like gaze, facial expression, and language. In this paper we discuss preliminary work focusing on the problem of combining social interaction with task-based action in a dynamic, multiagent bartending domain, using an embodied robot. We discuss how social states are inferred from low-level sensors, using vision and speech as input modalities, and present a planning approach that models task, dialogue, and social actions in a simple bartending scenario. This approach allows us to build interesting plans, which have been evaluated in a real-world study with human subjects, using a general purpose, off-the-shelf planner, as an alternative to more mainstream methods of interaction management.

For the long term co-existence of robots with us in complete harmony, they will be expected to show sociocognitive behaviors. In this paper, taking inspiration from child development research and human behavioral psychology we will identify the basic but key capabilities: perceiving abilities, effort and affordances. Further we will present the concepts, which fuse these components to perform multi-effort ability and affordance analysis. We will show instantiations of these capabilities on real robot and will discuss its potential applications for more complex socio-cognitive behavior.

The most critical moves that determine the success of a manipulation task are performed within the close vicinities of the object prior to grasping, and the goal prior to the final placement. Memorizing these state-action sequences and reusing them can dramatically improve the task efficiency, whereas even the state-of-the-art planning algorithms may require significant amount of time and computational resources to generate a solution from scratch depending on the complexity and the constraints of the task. In this paper, we propose a hybrid approach that combines the reliability of the past experiences gained through demonstration and the flexibility of a generative motion planning algorithm, namely RRT*, to improve task execution efficiency. As a side benefit of reusing these final moves, we can dramatically reduce the number of nodes used by the generative planner, hence the planning time, by either early-terminating the planner when the generated plan reaches a "recalled state", or deliberately biasing it towards the memorized state-action sequences that are feasible at the moment. This complementary combination of the already available partial plans and the generated ones yield to fast, reliable, and repeatable solutions.

Existing robot guides are able to offer a tour of a building, such as a museum, bank, science center, to a single person or to a group of participants. Usually the tours are predefined and there is no support for dynamic interactions between multiple robots. This paper focuses on distributed collaboration between several robot guides providing a building tour to groups of participants. Semantic techniques are adopted in order to formally define the tour topics, available content on a specific topic, and the robot and human profiles including their interests and content knowledge. The robot guides select different topics depending on their participants' interests and prior knowledge. Optimization of the topics of interests is achieved through exchange of participants between the robot guides whenever in each others neighborhood. Evaluation of the implemented algorithms presents a 90% content coverage of relevant topics for the individual participants.

Many tasks for autonomous agents or robots are best de- scribed by a specification of the environment and a specifi- cation of the available actions the agent or robot can perform. Combining such a specification with the possibility to imper- atively program a robot or agent is what we call the action- based imperative programming. One of the most successful such approaches is Golog. In this paper, we draft a proposal for a new robot program- ming language YAGI, which is based on the action-based imperative programming paradigm. Our goal is to design a small, portable stand-alone YAGI interpreter. We combine the benefits of a principled domain specification with a clean, small and simple programming language, which does not ex- ploit any side-effects from the implementation language. We discuss general requirements of action-based programming languages and outline YAGI, our action-based language ap- proach which particularly aims at embeddability.

Reaching for a target requires estimating the spatial position of the target and to convert such a position in a suitable arm-motor command. In the proposed framework, the location of the target is represented implicitly by the gaze direction of the robot and by the distance of the target. The NAO robot is provided with two cameras, one to look ahead and one to look down, which constitute two independent head-centered coordinate systems. These head-centered frames of reference are converted into reaching commands by two neural networks. The weights of networks are learned by moving the arm while gazing the hand, using an on-line learning algorithm that maintains the covariance matrix of weights. This work adapts a previously proposed model that worked on a full humanoid robot torso, to work with the NAO and is a step toward a more generic framework for the implicit representation of the peripersonal space in humanoid robots.

We propose an approach for the representation of actions based on the conceptual spaces framework developed by Gärdenfors (2004). Action categories are regarded as properties in the sense of Gärdenfors (2011) and are understood as convex regions in action space. Action categories are mainly described by a force signature that represents the forces that act upon a main trajector involved in the action. This force signature is approximated via a representation that specifies the time-indexed position of the trajector relative to several landmarks. We also present a computational approach to extract such representations from video data. We present results on the Motionese dataset consisting of videos of parents demonstrating actions on objects to their children. We evaluate the representations on a clustering and a classification task showing that, while our representations seems to be reasonable, only a handful of actions can be discriminated reliably.

Organizing committee for the  Cognitive Robotics Workshop held at AAAI-12.

Smartphones incorporate many diverse and powerful sensors, which creates exciting new opportunities for data mining and human-computer interaction. In this paper we show how standard classification algorithms can use labeled smartphone-based accelerometer data to identify the physical activity a user is performing. Our main focus is on evaluating the relative performance of impersonal and personal activity recognition models. Our impersonal (i.e., universal) models are built using training data from a panel of users and are then applied to new users, while our personal models are built with data from each user and then applied only to new data from that user. Our results indicate that the personal models perform dramatically better than the impersonal models—even when trained from only a few minutes worth of data. These personal models typically even outperform hybrid models that utilize both personal and impersonal data. These results strongly argue for the construction of personal models whenever possible. Our research means that we can unobtrusively gain useful knowledge about the habits of potentially millions of users. It also means that we can facilitate human computer interaction by enabling the smartphone to consider context and this can lead to new and more effective applications.

The problem of designing and building effective assistive systems for human agents performing professional knowledge-intensive activities, or knowledge-works is of great interest and has wide implications. In this paper we propose a new approach for solving the problem. The approach is based on activity-context aware computation paradigm that can lead to flexible yet robust systems for holistic support in performing complex knowledge-works. To this end, we also outline here the notion of activity-context and the idea of activity-models as core artifacts used by such systems embodying the notion.