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- | ==== LIving with Robots and InteractivE Companions ==== | + | ====== LIving with Robots and InteractivE Companions |
- | LIREC aims to establish a multi-faceted theory of artificial long-term companions (including memory, emotions, cognition, communication, | + | < |
- | Key areas of the research will focus on are: | + | http:// |
- | ==Long term companions== | + | =====Theory===== |
- | Robots and agents which build up a long term relationship with their users. | + | |
- | ==Agent migration== | + | [[Models of Social Intelligence]] |
- | In order to maintain a long term companionship, | + | |
- | * Mobile robot | + | |
- | * Fixed robot | + | |
- | * Handheld device | + | |
- | * Fixed graphical system | + | |
- | This migration between these devices, and how people relate to this migration is a core element of the research. | + | ====Agent platforms==== |
- | ===Scenarios=== | + | The platforms currently under consideration for long term companions are: |
+ | * Mobile robots | ||
+ | * Fixed robots | ||
+ | * Handheld devices | ||
+ | * Fixed graphical systems | ||
- | The scenarios are to be considered preliminary ideas for showcasing | + | =====Migration===== |
+ | |||
+ | An interesting feature of the research is migration between these platforms. Agents which need to build up a long term relationship with their users will have to switch forms depending on the needs of the user at different times. The migration | ||
- | ==Heriot Watt== | + | ======Scenarios====== |
+ | |||
+ | In order to test and showcase the technology developed for Lirec, several scenarios have been designed to promote companionship. These scenarios are shared between three of the research partners. | ||
+ | |||
+ | ====Heriot Watt==== | ||
Spirit of the building: | Spirit of the building: | ||
- | - Team buddy, mobile robot, collective memory for a lab team | + | - Team buddy, |
- | - Personal guide - for navigating around a university campus, | + | - Personal guide - for navigating around a university campus, |
- | - In the wild - a gossip/chat robot - appears on a large screen in social area | + | - In the wild - a gossip/chat robot - appears on a large screen in a social area |
- | ==INESC-ID== | + | ====INESC-ID==== |
- Game companion for young children | - Game companion for young children | ||
- | - Personal trainer | + | - Personal trainer |
- | - Welcome to the jungle - talk to game characters through a robot, robot can alternate | + | - Welcome to the jungle - talk to game characters through a robot which can alternate between real and game world |
- | | + | |
- | ==University of Hertfordshire== | + | ====The University of Hertfordshire==== |
- | - Fetch and carry, help with physical impairment or convenience | + | - Fetch and carry, |
- | - Cognitive prosthetic - memory aid for tasks etc | + | - Cognitive prosthetic - memory aid for tasks |
- | - Telepresence card player - robot mediates play | + | - Telepresence card player - a robot mediates play between two people |
- | - Teaching | + | - Teaching |
- | - Travelling companion - agent migration, to stay with user during home, work, shopping. | + | - Travelling companion - agent migration, to stay with user during home, work, shopping |
- | ===Architecture=== | + | ======Experimental testing====== |
- | Has to: | + | All scenarios developed are to be experimentally tested and showcased to the public. |
+ | |||
+ | ======Architecture====== | ||
+ | |||
+ | The technology developed for Lirec is shared between the research partners, and has to: | ||
- Run on very different platforms | - Run on very different platforms | ||
- Reuse code across these platforms | - Reuse code across these platforms | ||
- Support migration at runtime between platforms | - Support migration at runtime between platforms | ||
- | Platforms can consist of 4 main types, mobile | + | ====Existing |
+ | In the whole, there has historically been a lack of sharing of this kind of technology. This is partly because generalising is hard, considering all types of robots and implementations possible. However, Lirec has to generalise as it' | ||
- | ==Existing robot architectures== | + | While some existing |
- | In the whole, there is a lack of sharing | + | - Long term companionship rather than solving |
+ | - Working across different platforms | ||
- | NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | + | ====Methodology==== |
+ | In the past there have been 2 broad approaches to [[robot design]]: | ||
+ | * Hierarchical, | ||
+ | * Behavioural approach = less state, local decisions, but liable to local minima and opaque to program | ||
+ | This can be summed up as " | ||
- | ==Methodology== | + | The plan is to use a hybrid approach, example |
- | In the past there have been 2 broad approaches to robot design: | + | |
- | * Hierarchical, | + | |
- | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program | + | |
- | This can be summed up as predictive vs reactive. | + | |
- | + | ||
- | The plan is to use a hybrid approach, example BIRON. Where the predictive constrains the reactive to combine local decisions with a world model. | + | |
The architecture will consist of 3 layers of abstraction: | The architecture will consist of 3 layers of abstraction: | ||
- | * Level 1 - device layer, | + | * Level 1 - The device |
- | * Level 2 - platform dependant -> logical | + | * Level 2 - Logical |
* Level 3 - ION, platform independent | * Level 3 - ION, platform independent | ||
Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency will be needed for different platforms. | Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency will be needed for different platforms. | ||
- | Example competencies: | + | ====Competencies table==== |
- | * Face finding | + | |
- | * Expression recognition | + | ^ Actuation ^^^^ Sensing ^^^^^^ |
- | * Text to speech | + | | **Speech/ |
- | * Obstacle avoidance | + | | Text to speech |
+ | | Non-verbal sounds | Lip sync | Follow person | | Obj recognition | Gesture recognition (simple set) | Non-verbal sounds | Locate person | Locate obj | Competence execution monitoring | | ||
+ | | | Facial expression | Path planning | | | Emotion recognition (simple set) | | | User proximic distance sensing/ | ||
+ | | | | Gaze/head movement | | | Body tracking | | | | | | ||
+ | | | | Expressive behaviour | | | | | | | | | ||
+ | |||
+ | Some competencies are dependant on others, such as facial expression which will require a face detection competency to operate. The computer vision competencies are to be concentrated on at first. | ||
+ | |||
+ | =====Level 3 Architecture===== | ||
+ | |||
+ | ====Appraisal==== | ||
+ | ====Coping/ | ||
+ | ====Affective State==== | ||
+ | ====Social Relations==== | ||
+ | ====Models of others (Theory of Mind)==== | ||
+ | ====Long term memory==== | ||
+ | * Forgetting | ||
+ | ====Short term memory==== | ||
+ | |||
+ | ======Links====== | ||
+ | |||
+ | [[Lirec Work Packages]] | ||
+ | [[http:// | ||
- | YARP |