Human Intention Prediction in Human-Robot Collaborative Tasks

Weitian Wang; Rui Li; Yi Chen; Yunyi Jia

doi:10.1145/3173386.3177025

Human Intention Prediction in Human-Robot Collaborative Tasks

Weitian Wang, Rui Li, Yi Chen, Yunyi Jia

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

57 Scopus citations

Abstract

Enabling the robot to predict human intentions in human-robot collaborative hand-over tasks is a challenging but important issue to address. We develop a novel and effective teaching-learning-prediction (TLP) model for the robot to online learn from natural multi-modal human demonstrations during human-robot hand-overs and then predict human hand-over intentions using human wearable sensing information. The human could program the robot using partial demonstrations according to the updated tasks and his/her personal hand-over preferences, and the robot can online leverage its learned strategy to actively predict human hand-over intentions and assist the human in collaborative tasks. We evaluate the approach through experiments.

Original language	English
Title of host publication	HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction
Publisher	IEEE Computer Society
Pages	279-280
Number of pages	2
ISBN (Electronic)	9781450356152
DOIs	https://doi.org/10.1145/3173386.3177025
State	Published - 1 Mar 2018
Event	13th Annual ACM/IEEE International Conference on Human Robot Interaction, HRI 2018 - Chicago, United States Duration: 5 Mar 2018 → 8 Mar 2018

Publication series

Name	ACM/IEEE International Conference on Human-Robot Interaction
ISSN (Electronic)	2167-2148

Conference

Conference	13th Annual ACM/IEEE International Conference on Human Robot Interaction, HRI 2018
Country/Territory	United States
City	Chicago
Period	5/03/18 → 8/03/18

Keywords

human intention prediction
human-robot hand-over
learning from demonstrations
natural multi-modal information

Access to Document

10.1145/3173386.3177025

Cite this

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title = "Human Intention Prediction in Human-Robot Collaborative Tasks",

abstract = "Enabling the robot to predict human intentions in human-robot collaborative hand-over tasks is a challenging but important issue to address. We develop a novel and effective teaching-learning-prediction (TLP) model for the robot to online learn from natural multi-modal human demonstrations during human-robot hand-overs and then predict human hand-over intentions using human wearable sensing information. The human could program the robot using partial demonstrations according to the updated tasks and his/her personal hand-over preferences, and the robot can online leverage its learned strategy to actively predict human hand-over intentions and assist the human in collaborative tasks. We evaluate the approach through experiments.",

keywords = "human intention prediction, human-robot hand-over, learning from demonstrations, natural multi-modal information",

author = "Weitian Wang and Rui Li and Yi Chen and Yunyi Jia",

note = "Publisher Copyright: {\textcopyright} 2018 Authors.; 13th Annual ACM/IEEE International Conference on Human Robot Interaction, HRI 2018 ; Conference date: 05-03-2018 Through 08-03-2018",

year = "2018",

month = mar,

day = "1",

doi = "10.1145/3173386.3177025",

language = "English",

series = "ACM/IEEE International Conference on Human-Robot Interaction",

publisher = "IEEE Computer Society",

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booktitle = "HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction",

}

Wang, W , Li, R, Chen, Y & Jia, Y 2018, Human Intention Prediction in Human-Robot Collaborative Tasks. in HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction. ACM/IEEE International Conference on Human-Robot Interaction, IEEE Computer Society, pp. 279-280, 13th Annual ACM/IEEE International Conference on Human Robot Interaction, HRI 2018, Chicago, United States, 5/03/18. https://doi.org/10.1145/3173386.3177025

Human Intention Prediction in Human-Robot Collaborative Tasks. / Wang, Weitian ; Li, Rui; Chen, Yi et al.
HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction. IEEE Computer Society, 2018. p. 279-280 (ACM/IEEE International Conference on Human-Robot Interaction).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Human Intention Prediction in Human-Robot Collaborative Tasks

AU - Wang, Weitian

AU - Li, Rui

AU - Chen, Yi

AU - Jia, Yunyi

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N2 - Enabling the robot to predict human intentions in human-robot collaborative hand-over tasks is a challenging but important issue to address. We develop a novel and effective teaching-learning-prediction (TLP) model for the robot to online learn from natural multi-modal human demonstrations during human-robot hand-overs and then predict human hand-over intentions using human wearable sensing information. The human could program the robot using partial demonstrations according to the updated tasks and his/her personal hand-over preferences, and the robot can online leverage its learned strategy to actively predict human hand-over intentions and assist the human in collaborative tasks. We evaluate the approach through experiments.

AB - Enabling the robot to predict human intentions in human-robot collaborative hand-over tasks is a challenging but important issue to address. We develop a novel and effective teaching-learning-prediction (TLP) model for the robot to online learn from natural multi-modal human demonstrations during human-robot hand-overs and then predict human hand-over intentions using human wearable sensing information. The human could program the robot using partial demonstrations according to the updated tasks and his/her personal hand-over preferences, and the robot can online leverage its learned strategy to actively predict human hand-over intentions and assist the human in collaborative tasks. We evaluate the approach through experiments.

KW - human intention prediction

KW - human-robot hand-over

KW - learning from demonstrations

KW - natural multi-modal information

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U2 - 10.1145/3173386.3177025

DO - 10.1145/3173386.3177025

M3 - Conference contribution

AN - SCOPUS:85045249054

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SP - 279

EP - 280

BT - HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction

PB - IEEE Computer Society

T2 - 13th Annual ACM/IEEE International Conference on Human Robot Interaction, HRI 2018

Y2 - 5 March 2018 through 8 March 2018

ER -

Human Intention Prediction in Human-Robot Collaborative Tasks

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Keywords

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