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lirec_notes [2009-01-06 15:24] – davegriffiths | lirec_notes [2009-01-13 12:25] – davegriffiths | ||
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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, | + | < |
- | ==Agent platforms== | + | http:// |
+ | |||
+ | =====Theory===== | ||
+ | |||
+ | [[Models of Social Intelligence]] | ||
+ | |||
+ | =====Architecture===== | ||
+ | |||
+ | See [[Lirec Architecture]] for an overview of the planned technical structure of the project. | ||
+ | |||
+ | =====Agent platforms===== | ||
The platforms currently under consideration for long term companions are: | The platforms currently under consideration for long term companions are: | ||
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* Fixed graphical systems | * Fixed graphical systems | ||
- | ==Migration== | + | =====Migration===== |
- | An interesting feature of the research is migration | + | An interesting feature of the research is migration |
- | ===Scenarios=== | + | =====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. | + | 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== | + | ====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 |
- | | + | |
- | + | ||
- | ==The University of Hertfordshire== | + | |
- | - Fetch and carry, help with physical impairment or convenience | + | |
- | - Cognitive prosthetic - memory aid for tasks etc | + | |
- | - Telepresence card player - robot mediates play | + | |
- | - Teaching Proxemic preferences - robot learns where to be relative to the user in different situations | + | |
- | - Travelling companion - agent migration, to stay with user during home, work, shopping. | + | |
- | + | ||
- | ===Experimental testing=== | + | |
- | + | ||
- | All scenarios are to be experimentally tested in public. | + | |
- | + | ||
- | ===Architecture=== | + | |
- | + | ||
- | The technology developed for lirec is shared between the research partners, and has to: | + | |
- | - Run on very different platforms | + | |
- | - Reuse code across these platforms | + | |
- | - Support migration at runtime between platforms | + | |
- | ==Existing robot architectures== | + | ====The University of Hertfordshire==== |
- | 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 possible. However, Lirec has to generalise as it's using a wide variety of architectures and needs to share as much as possible. | + | - Fetch and carry, to help with physical impairment or provide convenience |
+ | - Cognitive prosthetic - memory aid for tasks | ||
+ | - Telepresence card player - a robot mediates play between two people | ||
+ | - Teaching proxemic preferences - a robot learns where to be relative to the user in different situations | ||
+ | - Travelling companion - agent migration, to stay with user during home, work, shopping | ||
- | While some existing architectures are available, none of them address the needs of lirec, given the focus: | + | =====Experimental testing===== |
- | - Long term companionship rather than a purely technical problem | + | |
- | - Working across different platforms | + | |
- | ==Methodology== | + | All scenarios developed are to be experimentally tested and showcased |
- | In the past there have been 2 broad approaches | + | |
- | * 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. | + | TODO |
- | The architecture will consist of 3 layers of abstraction: | + | =====Links===== |
- | * Level 1 - device layer, platform dependant | + | |
- | * Level 2 - platform dependant -> logical mappings | + | |
- | * 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. | + | [[Lirec Work Packages]] |
- | Example competencies: | + | [[http:// |
- | * Face finding | + | |
- | * Expression recognition | + | |
- | * Text to speech | + | |
- | * Obstacle avoidance | + | |
- | YARP |