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2018
Duarte, Nuno Ferreira; Rakovic, Mirko; Tasevski, Jovica; Coco, Moreno Ignazio; Billard, Aude; Santos-Victor, Jose (2018): Action Anticipation: Reading the Intentions of Humans and Robots. In: IEEE Robotics and Automation Letters 3 (4), S. 4132-4139. DOI: 10.1109/LRA.2018.2861569

DOI: https://doi.org/10.1109/LRA.2018.2861569

Abstract: Humans have the fascinating capacity of processing nonverbal visual cues to understand and anticipate the actions of other humans. This “intention reading” ability is underpinned by shared motor repertoires and action models, which we use to interpret the intentions of others as if they were our own. We investigate how different cues contribute to the legibility of human actions during interpersonal interactions. Our first contribution is a publicly available dataset with recordings of human body motion and eye gaze, acquired in an experimental scenario with an actor interacting with three subjects. From these data, we conducted a human study to analyze the importance of different nonverbal cues for action perception. As our second contribution, we used motion/gaze recordings to build a computational model describing the interaction between two persons. As a third contribution, we embedded this model in the controller of an iCub humanoid robot and conducted a second human study, in the same scenario with the robot as an actor, to validate the model's “intention reading” capability. Our results show that it is possible to model (nonverbal) signals exchanged by humans during interaction, and how to incorporate such a mechanism in robotic systems with the twin goal of being able to “read” human action intentionsand acting in a way that is legible by humans

Keywords: Blick / Gaze, Body Movement, EYE GAZE, Gaze, Gesichtserkennung, HRI, human-robot interaction, iCub, Intentionserkennung (Roboter erkennt Menschenintention), Körperbewegung, Körperhaltung, Körpersprache, Nichtverbale Kommunikation, nonverbal, Nonverbal behavior, non-verbal cues, Nonverbale Kommunikation, Soziosensitive Systeme
2016
Fiebich, Anika (2016): Pluralism, social cognition, and interaction in autism. In: Philosophical Psychology 30 (1-2), S. 161-184. DOI: 10.1080/09515089.2016.1261394

Abstract: In this paper, I investigate social cognition and its relation to interaction in autism from the perspective of a pluralist account of social understanding by considering behavioral as well as neuroscientific findings. Traditionally, researchers have focused on mental state reasoning in autism, which is uncontroversially impaired. A pluralist account of social cognition aims to explore the varieties of social understanding that are acquired throughout ontogeny and may play a role in everyday life. The analysis shows that children with autism are well able to understand other people's behavior by considering social rules and norms, scripts, and stereotypes. Moreover, some individuals with autism succeed in understanding other people's behavior in terms of mental states by employing explicit behavioral rules as a compensatory strategy. The paper ends with a discussion of the social cognitive (dys)functions in autism and their relation to the motivation of individuals with autism to engage in social interaction.

Keywords: Angesicht, ASPERGER-SYNDROME, Autism spectrum disorder, Beeinflussung sozial angemessenen Verhaltens, Blick, Disziplin, EYE GAZE, FALSE BELIEF, Interaction, Interaktion, JOINT ATTENTION, mental states, mental states reasoning, mentale Zustände, MIRROR-NEURON SYSTEM, NORMAL-CHILDREN, Observablen/Kriterien für sozial angemessenes Verhalten und dessen Bewertung, OF-MIND DEVELOPMENT, OTHERS ACTIONS, Pathologie, PERSPECTIVE-TAKING, Philosophie, pluralist theories, Psychologie, script, Social Cognition, soziale Kognition, SPECTRUM DISORDERS
Palinko, O.; Rea, F.; Sandini, G.; Sciutti, A. (2016) : Robot reading human gaze: Why eye tracking is better than head tracking for human-robot collaboration: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, South Korea: IEEE Robotics & Automation Society, S. 5048-5054

DOI: https://doi.org/10.1109/IROS.2016.7759741

Abstract: Robots are at the position to become our everyday companions in the near future. Still, many hurdles need to be cleared to achieve this goal. One of them is the fact that robots are still not able to perceive some important communication cues naturally used by humans, e.g. gaze. In the recent past, eye gaze in robot perception was substituted by its proxy, head orientation. Such an approach is still adopted in many applications today. In this paper we introduce performance improvements to an eye tracking system we previously developed and use it to explore if this approximation is appropriate. More precisely, we compare the impact of the use of eye- or head-based gaze estimation in a human robot interaction experiment with the iCub robot and naïve subjects. We find that the possibility to exploit the richer information carried by eye gaze has a significant impact on the interaction. As a result, our eye tracking system allows for a more efficient human-robot collaboration than a comparable head tracking approach, according to both quantitative measures and subjective evaluation by the human participants.

Keywords: Angemessen(heit) (von Technik), Cameras, communication cues, EYE GAZE, eye tracking system, eye-based gaze estimation, gaze tracking, Head, head orientation, head tracking, head-based gaze estimation, Human robot interaction, Humanoid Robots, human-robot collaboration, human-robot interaction, iCub robot, ieee xplore, Magnetic heads, performance improvements, pose estimation, quantitative measures, robot human gaze reading, Robot kinematics, robot perception, robot proxy, robot vision, Visualization

2018

2016

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