Alle Publikationen
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2016
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(2016): Anticipating Human Activities Using Object Affordances for Reactive Robotic Response. In: IEEE transactions on pattern analysis and machine intelligence 38 (1), S. 14-29. DOI: 10.1109/TPAMI.2015.2430335
DOI: http://www.ncbi.nlm.nih.gov/pubmed/26656575 Abstract: An important aspect of human perception is anticipation, which we use extensively in our day-to-day activities when interacting with other humans as well as with our surroundings. Anticipating which activities will a human do next (and how) can enable an assistive robot to plan ahead for reactive responses. Furthermore, anticipation can even improve the detection accuracy of past activities. The challenge, however, is two-fold: We need to capture the rich context for modeling the activities and object affordances, and we need to anticipate the distribution over a large space of future human activities. In this work, we represent each possible future using an anticipatory temporal conditional random field (ATCRF) that models the rich spatial-temporal relations through object affordances. We then consider each ATCRF as a particle and represent the distribution over the potential futures using a set of particles. In extensive evaluation on CAD-120 human activity RGB-D dataset, we first show that anticipation improves the state-of-the-art detection results. We then show that for new subjects (not seen in the training set), we obtain an activity anticipation accuracy (defined as whether one of top three predictions actually happened) of 84.1, 74.4 and 62.2 percent for an anticipation time of 1, 3 and 10 seconds respectively. Finally, we also show a robot using our algorithm for performing a few reactive responses.
Keywords: Affordance, affordances, Affordanz, Algorithms, Aniticipation, Human Activities, Humans, Imaging, Intentionserkennung (Roboter erkennt Menschenintention), J. J. Gibson's theory of affordance, machine learning, MODELS, Movement, PERCEPTION, Psychological, Robotics, Soziosensitive Systeme, Soziosensitivität, Statistical, Three-Dimensional, Video Recording 2015
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(2015): The role of functional affordances in socializing robots. In: International Journal of Social Robotics 7 (4), S. 421-438. DOI: 10.1007/s12369-015-0281-3
DOI: https://doi.org/10.1007/s12369-015-0281-3 Abstract: Just as humans behave according to the social norms of their groups, autonomous systems that become part of these groups also need to behave in socially-expected and accepted ways. For humans these social norms are learned through interaction with members of the group. In this work, we propose that the functional affordances of objects, what objects are meant to be used for, provide us with a starting point for the socialization of such agents. We model these functional affordances in description logics and show how this enables the socially-expected human behavior of substituting objects as needed to achieve a goal. In addition, we propose to combine these affordances with conceptual similarity and proximity in order to make more complex substitutions, which are socially acceptable in their given context. Finally, we describe how their use would allow the agent to take advantage of opportunities and how they are modified and extended through interaction with humans. (PsycINFO Database Record (c) 2016 APA, all rights reserved)
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(2015): A prospective framework for the design of ideal artificial moral agents: Insights from the science of heroism in humans. In: Minds and Machines: Journal for Artificial Intelligence, Philosophy and Cognitive Science 25 (1), S. 57-71. DOI: 10.1007/s11023-015-9361-2
DOI: https://doi.org/10.1007/s11023-015-9361-2 Abstract: The growing field of machine morality has becoming increasingly concerned with how to develop artificial moral agents. However, there is little consensus on what constitutes an ideal moral agent let alone an artificial one. Leveraging a recent account of heroism in humans, the aim of this paper is to provide a prospective framework for conceptualizing, and in turn designing ideal artificial moral agents, namely those that would be considered heroic robots. First, an overview of what it means to be an artificial moral agent is provided. Then, an overview of a recent account of heroism that seeks to define the construct as the dynamic and interactive integration of character strengths (e.g., bravery and integrity) and situational constraints that afford the opportunity for moral behavior (i.e., moral affordances). With this as a foundation, a discussion is provided for what it might mean for a robot to be an ideal moral agent by proposing a dynamic and interactive connectionist model of robotic heroism. Given the limited accounts of robots engaging in moral behavior, a case for extending robotic moral capacities beyond just being a moral agent to the level of heroism is supported by drawing from exemplar situations where robots demonstrate heroism in popular film and fiction. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2012
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(2012): Language as Social Coordination. An evolutionary perspective. In: Interaction Studies 13 (1), S. 103-124. DOI: 10.1075/is.13.1.07fus
Abstract: Human social coordination is often mediated by language. Through verbal dialogue, people direct each other's attention to properties of their shared environment, they discuss how to jointly solve problems, share their introspections, and distribute roles and assignments. In this article, we propose a dynamical framework for the study of the coordinative role of language. Based on a review of a number of recent experimental studies, we argue that shared symbolic patterns emerge and stabilize through a process of local reciprocal linguistic alignment. Such patterns in turn come to facilitate and refine social coordination by enabling the alignment, joint construction and navigation of conceptual models and actions. Implications of the framework are illustrated and discussed in relation to a case study where dyads of interlocutors interact verbally to reach joint decisions in a perceptual discrimination task.
Keywords: adaptivity, affordances, Communication, CONSTRAINTS, Conversation, dialogue, emergence, Evolution, HUMAN-COMMUNICATION SYSTEMS, INTERACTING MINDS, Interaction, Interaktion, INTERPERSONAL COORDINATION, JOINT ACTION, Koordination, Language, linguistic alignment, Linguistik, PSYCHOLINGUISTICS, social coordination, symbolic patterns
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