Collaborative robots (cobots) are widely used in industrial applications, yet extensive research is still needed to enhance human-robot collaborations and operator experience. A potential approach to improve the collaboration experience involves adapting cobot behavior based on natural cues from the operator. Inspired by the literature on human-human interactions, we conducted a wizard-of-oz study to examine whether a gaze towards the cobot can serve as a trigger for initiating joint activities in collaborative sessions. In this study, 37 participants engaged in an assembly task while their gaze behavior was analyzed. We employ a gaze-based attention recognition model to identify when the participants look at the cobot. Our results indicate that in most cases (84.88\%), the joint activity is preceded by a gaze towards the cobot. Furthermore, during the entire assembly cycle, the participants tend to look at the cobot around the time of the joint activity. To the best of our knowledge, this is the first study to analyze the natural gaze behavior of participants working on a joint activity with a robot during a collaborative assembly task.

Four articles, published across the March through May issues of Communications, highlight how people are the unique source of the adaptive capacity essential to incident response in modern Internet-facing software systems. While it's reasonable for software engineering and operations communities to focus on the intricacies of technology, there is not much attention given to the intricacies of how people do their work. Ultimately, it is human performance that makes modern business-critical systems robust and resilient. As business-critical software systems become more successful, they necessarily increase in complexity. Ironically, this complexity makes these systems inherently messy so that surprising incidents are part and parcel of the capability to provide services at larger scales and speeds.13

Research on mixed-initiative interaction and assistance is still in its infancy but is poised to blossom into a wellspring of innovation that promise to change the way we work with computing systems--and the way that computing systems work with us. I share reflections about the opportunities ahead for developing computational systems with the ability to engage people in a deeply collaborative manner, founded on their ability to support fluid mixed-initiative problem solving. Such collaborative intelligence sits at the veritable heart of human civilization. In the course of daily life, we assume and rely on a rich interleaving of efforts to achieve goals while immersed in shared context. We continue to engage one another in efficient, tightly woven collaborations, reasoning with remarkable efficiency about the beliefs, preferences, intentions, and skills of potential collaborators. The inferences underlying successful collaborations typically stream in such an effortless and subconscious manner that we often fail to recognize the elegance and sophistication of these capabilities. The magic of human collaborative competency comes to the foreground with attempts to extend these skills to computational systems. Developing a better understanding of the core aspects of intelligence that enable people to collaborate with fluidity promises to enable new kinds of human-computer collaboration. The nascent area of research on mixed-initiative interaction centers on developing methods that enable computing systems to support an efficient, natural interleaving of contributions by people and computers, aimed at converging on solutions to problems. In mixed-initiative interaction, people and computers take initiatives to contribute to solving a problem, achieving a goal, or coming to a joint understanding. Conversational dialogue is an oft-cited example of mixed-initiative interaction, referring to the ability of each participant in a dialogue to take initiative to guide or add to a discussion. Endowing an automated dialogue system with the ability both to take initiative ("What city do you wish a flight to?") and to allow people to take conversational initiative ("Wait, I'd like to add a side trip.") However, mixed-initiative interaction extends beyond spoken conversations to include a broad spectrum of collaborative problem solving marked by an interleaving of contributions by different participants. Mastering mixed-initiative interaction poses a constellation of fascinating challenges and opportunities for AI researchers. Figure 1 highlights the core challenge of seeking mutual understanding or grounding of joint activity. Joint activity describes the behavior displayed by people working together to solve a mutual goal.

The construction of computer systems that are intelligent, collaborative problem-solving partners is an important goal for both the science of AI and its application. From the scientific perspective, the development of theories and mechanisms to enable building collaborative systems presents exciting research challenges across AI subfields. From the applications perspective, the capability to collaborate with users and other systems is essential if large-scale information systems of the future are to assist users in finding the information they need and solving the problems they have. In this address, it is argued that collaboration must be designed into systems from the start; it cannot be patched on. Key features of collaborative activity are described, the scientific base provided by recent AI research is discussed, and several of the research challenges posed by collaboration are presented.

According to Clark's seminal work on common ground and grounding, participants collaborating in a joint activity rely on their shared information, known as common ground, to perform that activity successfully, and continually align and augment this information during their collaboration. Similarly, teams of human and artificial agents require common ground to successfully participate in joint activities. Indeed, without appropriate information being shared, using agent autonomy to reduce the workload on humans may actually increase workload as the humans seek to understand why the agents are behaving as they are. While many researchers have identified the importance of common ground in artificial intelligence, there is no precise definition of common ground on which to build the foundational aspects of multi-agent collaboration. In this paper, building on previously-defined modal logics of belief, we present logic definitions for four different types of common ground. We define modal logics for three existing notions of common ground and introduce a new notion of common ground, called salient common ground. Salient common ground captures the common ground of a group participating in an activity and is based on the common ground that arises from that activity as well as on the common ground they shared prior to the activity. We show that the four definitions share some properties, and our analysis suggests possible refinements of the existing informal and semi-formal definitions.

Despite recent successful real-world deployments of Stackelberg Security Games (SSGs), scale-up remains a fundamental challenge in this field. The latest techniques do not scale-up to domains where multiple defenders must coordinate time-dependent joint activities. To address this challenge, this paper presents two branch-and-price algorithms for solving SSGs, SMARTO and SMARTH, with three novel features: (i) a column-generation approach that uses an ordered network of nodes (determined by solving the traveling salesman problem) to generate individual defender strategies; (ii) exploitation of iterative reward shaping of multiple coordinating defender units to generate coordinated strategies; (iii) generation of tighter upper-bounds for pruning by solving security games that only abide by key scheduling constraints. We provide extensive experimental results and formal analyses.

This paper describes a gestural approach to interacting with interactive narrative characters that supports co-creativity. It describes our approach using a Microsoft Kinect to created a short scene with an intelligent avatar and an AI-controlled actor. It describes our preliminary user studies and a recommendation for future evaluation.

Conversational dialogue is an oft-cited example of mixed-initiative interaction, referring to the ability of each participant in a dialogue to take initiative to guide or add to a discussion. Endowing an automated dialogue system communicate, and coordinate with with the ability both to take initiative ("What In the course like to add a side trip.") However, of efforts to achieve goals while immersed mixed-initiative interaction extends beyond in shared context. We continue to engage spoken conversations to include a broad spectrum one another in efficient, tightly woven of collaborative problem solving marked collaborations, reasoning with remarkable efficiency by an interleaving of contributions by different about the beliefs, preferences, intentions, participants. Mastering mixed-initiative interaction poses The inferences underlying successful collaborations a constellation of fascinating challenges and typically stream in such an effortless opportunities for AI researchers.

The construction of computer systems that are intelligent, collaborative problem-solving partners is an important goal for both the science of AI and its application. From the scientific perspective, the development of theories and mechanisms to enable building collaborative systems presents exciting research challenges across AI subfields. From the applications perspective, the capability to collaborate with users and other systems is essential if large-scale information systems of the future are to assist users in finding the information they need and solving the problems they have. In this address, it is argued that collaboration must be designed into systems from the start; it cannot be patched on. Key features of collaborative activity are described, the scientific base provided by recent AI research is discussed, and several of the research challenges posed by collaboration are presented. It is further argued that research on, and the development of, collaborative systems should itself be a collaborative endeavor -- within AI, across subfields of computer science, and with researchers in other fields.