Title:
Using a Shared Tablet Workspace for Interactive Demonstrations during Human-Robot Learning Scenarios
Using a Shared Tablet Workspace for Interactive Demonstrations during Human-Robot Learning Scenarios
Authors
Park, Hae Won
Coogle, Richard A.
Howard, Ayanna M.
Coogle, Richard A.
Howard, Ayanna M.
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Abstract
One of the key elements for building a long-term
robotic companion is incorporating the ability for a robot to
continuously learn and engage in new tasks. Utilizing a defined
workspace that provides various shared content between human
and robot could assist in this learning process. Here, we
propose integrating a touchscreen tablet and a robot learner
for engaging the user during human-robot interaction scenarios.
The robot learner’s domain-independent core reasoner follows
the structure of instance-based learning which addresses the
issues of acquiring knowledge, encoding cases, and learning a
retrieval metric. The system utilizes demonstrations provided
by the user to auto-populate the knowledge base through
natural interaction methods, encodes cases based on the feature
structure provided by the user, and uses an adaptive-weighting
technique to design a retrieval metric with linear regression in
the feature-distance space. Through a tablet environment, the
user teaches a task to the robot in a shared workspace and
intuitively monitors the robot’s behavior and progress in real
time. In this setting, the user is able to interrupt the robot and
provide necessary demonstrations at the moment learning is
taking place, thus providing a means to continuously engage
both the participant and the robot in the learning cycle.
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Date Issued
2014
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Proceedings