Lectures A.Y. 2016/17
Schedule and readings
Date
20/2
27/2
Topic & slides
1. Introduction & Applications
Slides
RoboCup@Home - Benchmarking & competitions in HRI
2. Interaction Design and Management
Slides
2a. Interaction Design (Part 1)
2b. Interaction Design(Part 2)
3. Graphical User Interfaces
Slides
Readings
M. A. Goodrich and A. C. Schultz.
Human-Robot Interaction: A Survey.
Foundations and Trends. in Human–Computer Interaction
Vol. 1, No. 3 (2007) 203–275, 2007.
T. Fong, I. Nourbakhsh, K. Dautenhahn.
A Survey of Socially Interactive Robots.
Robotics and Autonomous Systems, vol. 42, pp. 143–166, 2003.
L. Iocchi, D. Holz, J. Ruiz-del-Solar, K. Sugiura, T. van der Zant.
RoboCup@Home: Analysis and Results of Evolving Competitions for Domestic and Service Robots.
Artificial Intelligence, vol. 229, pp. 258-281, 2015.
M. Cirillo, L. Karlsson, and A. Saffiotti.
Human-aware task planning: An application to mobile robots
In ACM Transactions on Intelligent Systems and Technology (TIST), 1 (2), 2010.
R. Lallement, L. De Silva, and R. Alami.
HATP: An HTN Planner for Robotics
In Proc. of 2nd ICAPS Workshop on Planning and Robotics
(PlanRob), 2014.
L. de Silva, R. Lallement, and R. Alami.
The HATP Hierarchical Planner: Formalisation and an Initial Study of its Usability and Practicality
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2015.
V. A. Ziparo, L. Iocchi, P. U. Lima, D. Nardi, and P. F. Palamara.
Petri Net Plans - A framework for collaboration and coordination in multi-robot systems
In Autonomous Agents and Multi-Agent Systems, 23 (3), 2011.
Valerio Sanelli, Michael Cashmore, Daniele Magazzeni, and Luca Iocchi.
Short-Term Human Robot Interaction through Conditional Planning and Execution.
In Proc. of International Conference on Automated Planning and Scheduling (ICAPS) 2017 (to appear).
Eugenio Sebastiani, Raphaël Lallement, Rachid Alami, and Luca Iocchi. Dealing with On-line Human-Robot Negotiations in Hierarchical Agent-based Task Planner.
In Proc. of International Conference on Automated Planning and Scheduling (ICAPS) 2017 (to appear).
9/3
13/3
Demo
Full example of interaction management
4. Uncertainty in HRI
Slides
Software
https://bitbucket.org/iocchi/hri_software
(follow instruction in README)
A virtual machine is available (ask the teacher)
5. Speech understanding and generation
Slides
Software
- Microsoft Speech Platform Virtual Machine (ask the teacher)
Slides
Application: Living with social robots
6. Visual perception
Slides
6B. Visual Perception Practical
Software
7. RGBD Perception
Slides
Software
8. Human Perception and tracking
Slides
8. Human Perception and Tracking
Data set for person detection ROS bag file
9. Motion Control for HRI
Slides
Enabling Symbiotic Autonomy in Short-Term Interactions
11. Pepper programming
Software
Download and install Coreographe and Python SDK from the link below
See also Python installation instructions
Pepper programming 1
Pepper programming 2
Project assistance
Data set for person detection ROS bag file
Pepper programming 3
L. Iocchi, M. T. Lázaro, L. Jeanpierre, A.-I. Mouaddib. Personalized short-term multi-modal interaction for social robots assisting users in shopping malls. In International Conference on Social Robotics, Paris, France, 2015.
T. Taha, J. Miro, and G. Dissanayake, A POMDP framework for modelling human interaction with assistive robots. In Proc. of Int. Conf. on Robotics and Automation (ICRA), 2011
Finale Doshi and Nicholas Roy. Spoken Language Interaction with Model Uncertainty: An Adaptive Human-Robot Interaction System. Connection Science, 2008.
Luca Iocchi, Laurent Jeanpierre, Maria Teresa Lazaro, Abdel-Illah Mouaddib: A Practical Framework for Robust Decision-Theoretic Planning and Execution for Service Robots. In Proc. of ICAPS, 2016.
27/3
Andrea Vanzo, Danilo Croce, Emanuele Bastianelli, Roberto Basili, Daniele Nardi. 2016. Robust Spoken Language Understanding for House Service Robots. In Proceedings of the 17th International Conference on Intelligent Text Processing and Computational Linguistics CICLing 2016.
Guglielmo Gemignani, Roberto Capobianco, Emanuele Bastianelli, Domenico Bloisi, Luca Iocchi, Daniele Nardi, "Living with Robots: Interactive Environmental KnowledgeAcquisition", In Robotics and Autonomous Systems, vol. 78, 2016.
30/3
3/4
6/4
C. Dondrup et al. Real-time multisensor people tracking for human-robot spatial interaction. ICRA 2015.
10/4
27/4
4/5
8/5
[Pairo et al. 2013] Wilma Pairo, Javier Ruiz-del-Solar, Rodrigo Verschae, Mauricio Correa, Patricio Loncomilla. Person Following by Mobile Robots: Analysis of Visual and Range Tracking Methods and Technologies. RoboCup 2013: 231-243
15/5
18/5
22/5
25/5
No lecture on 11/5