NDLI: Towards Human-Level Semantics Understanding of Human-Centered Object Manipulation Tasks for HRI: Reasoning About Effect, Ability, Effort and Perspective Taking

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Towards Human-Level Semantics Understanding of Human-Centered Object Manipulation Tasks for HRI: Reasoning About Effect, Ability, Effort and Perspective Taking

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Towards Human-Level Semantics Understanding of Human-Centered Object Manipulation Tasks for HRI: Reasoning About Effect, Ability, Effort and Perspective Taking

Content Provider	Springer Nature Link
Author	Pandey, Amit Kumar Alami, Rachid
Copyright Year	2014
Abstract	In its lifetime, a robot should be able to autonomously understand the semantics of different tasks to effectively perform them in different situations. In this context, it is important to distinguish the meaning (in terms of the desired effect) of a task and the means to achieve that task. Our focus is those tasks in which one agent is required to perform a task for another agent, such as give, show, hide, make-accessible, etc. In this paper, we identify that a high-level human-centered combined reasoning, based on perspective taking, efforts and abilities analyses, is the key to understand semantics of such tasks. By combining these aspects, the robot infers sets of hierarchy of facts, which serve for analyzing the effect of a task. We adapt the explanation based learning approach enabling the task understanding from the very first demonstration and continuous refinement with new demonstrations. We argue that such symbolic level understanding of a task, which is not bound to trajectory, kinematics structure or shape of the robot, facilitates generalization to novel situations as well as ease the transfer of acquired knowledge among heterogeneous robots. Further, the knowledge of tasks at such human understandable level of abstraction will enrich the natural human–robot interaction.
Starting Page	593
Ending Page	620
Page Count	28
File Format	PDF
ISSN	18754791
Journal	International Journal of Social Robotics
Volume Number	6
Issue Number	4
e-ISSN	18754805
Language	English
Publisher	Springer Netherlands
Publisher Date	2014-07-14
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Perspective taking Ability analysis Effort analysis Emulation learning Effect understanding Social learning Explanation based learning Task semantics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Philosophy Control and Systems Engineering Social Psychology Electrical and Electronic Engineering Human-Computer Interaction

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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