Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
158 tokens/sec
GPT-4o
7 tokens/sec
Gemini 2.5 Pro Pro
45 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

Goal-Oriented End-User Programming of Robots (2403.13988v1)

Published 20 Mar 2024 in cs.RO

Abstract: End-user programming (EUP) tools must balance user control with the robot's ability to plan and act autonomously. Many existing task-oriented EUP tools enforce a specific level of control, e.g., by requiring that users hand-craft detailed sequences of actions, rather than offering users the flexibility to choose the level of task detail they wish to express. We thereby created a novel EUP system, Polaris, that in contrast to most existing EUP tools, uses goal predicates as the fundamental building block of programs. Users can thereby express high-level robot objectives or lower-level checkpoints at their choosing, while an off-the-shelf task planner fills in any remaining program detail. To ensure that goal-specified programs adhere to user expectations of robot behavior, Polaris is equipped with a Plan Visualizer that exposes the planner's output to the user before runtime. In what follows, we describe our design of Polaris and its evaluation with 32 human participants. Our results support the Plan Visualizer's ability to help users craft higher-quality programs. Furthermore, there are strong associations between user perception of the robot and Plan Visualizer usage, and evidence that robot familiarity has a key role in shaping user experience.

Definition Search Book Streamline Icon: https://streamlinehq.com
References (55)
  1. RoboCat: A Category Theoretic Framework for Robotic Interoperability Using Goal-Oriented Programming. IEEE Transactions on Automation Science and Engineering 19, 3 (2022), 2637–2645. https://doi.org/10.1109/TASE.2021.3094055
  2. A Survey on End-User Robot Programming. Comput. Surveys 54, 8, Article 164 (oct 2021), 36 pages. https://doi.org/10.1145/3466819
  3. RoboFlow: A Flow-based Visual Programming Language for Mobile Manipulation Tasks. In 2015 IEEE International Conference on Robotics and Automation (ICRA ’15’). IEEE, New York, NY, USA, 5537–5544. https://doi.org/10.1109/ICRA.2015.7139973
  4. A Task Planner for an Autonomous Social Robot. Springer Berlin Heidelberg, Berlin, Heidelberg, 335–344. https://doi.org/10.1007/978-3-642-00644-9_30
  5. Guidelines for Human-AI Interaction. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI ’19). Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10.1145/3290605.3300233
  6. Christel Baier and Joost-Pieter Katoen. 2008. Principles of Model Checking. MIT press, Cambridge, MA, USA.
  7. End-user development, end-user programming and end-user software engineering: A systematic mapping study. Journal of Systems and Software 149 (2019), 101–137. https://doi.org/10.1016/j.jss.2018.11.041
  8. CAPIRCI: A Multi-modal System for Collaborative Robot Programming. In End-User Development (IS-EUD ’19), Alessio Malizia, Stefano Valtolina, Anders Morch, Alan Serrano, and Andrew Stratton (Eds.). Springer International Publishing, Cham, 51–66. https://doi.org/10.1007/978-3-030-24781-2_4
  9. An intuitive interface for a cognitive programming by demonstration system. In 2008 IEEE International Conference on Robotics and Automation. IEEE, New York, NY, USA, 3570–3575. https://doi.org/10.1109/ROBOT.2008.4543757
  10. Michael Bratman. 1987. Intention, Plans, and Practical Reason. Harvard University Press, Cambridge, MA, USA.
  11. John Brooke. 1996. SUS-A ‘quick and dirty’ usability scale. Usability Evaluation in Industry 189, 194 (1996), 4–7. https://doi.org/10.1201/9781498710411
  12. GhostAR: A Time-Space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (New Orleans, LA, USA) (UIST ’19). Association for Computing Machinery, New York, NY, USA, 521–534. https://doi.org/10.1145/3332165.3347902
  13. V.Ra: An In-Situ Visual Authoring System for Robot-IoT Task Planning with Augmented Reality. In Proceedings of the 2019 on Designing Interactive Systems Conference (San Diego, CA, USA) (DIS ’19). Association for Computing Machinery, New York, NY, USA, 1059–1070. https://doi.org/10.1145/3322276.3322278
  14. The Robotic Social Attributes Scale (RoSAS): Development and Validation. In Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction (Vienna, Austria) (HRI ’17). Association for Computing Machinery, New York, NY, USA, 254–262. https://doi.org/10.1145/2909824.3020208
  15. Plan Explanations as Model Reconciliation – An Empirical Study. In Proceedings of the 14th ACM/IEEE International Conference on Human-Robot Interaction (Daegu, Republic of Korea) (HRI ’19). IEEE Press, New York, NY, USA, 258–266. https://doi.org/10.1109/HRI.2019.8673193
  16. Iterative Design of a System for Programming Socially Interactive Service Robots. In Proceedings of Social Robotics: 8th International Conference (ICSR 2016), Arvin Agah, John-John Cabibihan, Ayanna M. Howard, Miguel A. Salichs, and Hongsheng He (Eds.). Springer International Publishing, Cham, 919–929. https://doi.org/10.1007/978-3-319-47437-3_90
  17. Michael T. Cox and Chen Zhang. 2007. Mixed-Initiative Goal Manipulation. AI Magazine 28, 2 (Jun. 2007), 62. https://doi.org/10.1609/aimag.v28i2.2040
  18. Agent planning programs. Artificial Intelligence 231 (2016), 64–106. https://doi.org/10.1016/j.artint.2015.10.001
  19. Emanuele De Pellegrin and Ronald P.A. Petrick. 2021. Automated Planning and Robotics Simulation with PDSim. In Proceedings of the ICAPS Workshop on Knowledge Engineering for Planning and Scheduling (KEPS).
  20. Robot Programming by Demonstration with Situated Spatial Language Understanding. In 2015 IEEE International Conference on Robotics and Automation (ICRA ’15). IEEE, New York, NY, USA, 2014–2020. https://doi.org/10.1109/ICRA.2015.7139462
  21. Maria Fox and Derek Long. 2003. PDDL2. 1: An Extension to PDDL for Expressing Temporal Planning Domains. Journal of Artificial Intelligence Research 20 (2003), 61–124. https://doi.org/10.1613/jair.1129
  22. Automated Planning and Acting. Cambridge University Press, Cambridge, England.
  23. Javi F. Gorostiza and Miguel A. Salichs. 2011. End-user programming of a social robot by dialog. Robotics and Autonomous Systems 59, 12 (2011), 1102–1114. https://doi.org/10.1016/j.robot.2011.07.009
  24. Sandra G. Hart and Lowell E. Staveland. 1988. Development of NASA-TLX (Task Load Index): Results of Empirical and Theoretical Research. In Human Mental Workload, Peter A. Hancock and Najmedin Meshkati (Eds.). Advances in Psychology, Vol. 52. Elsevier B.V., Amsterdam, Netherlands, 139–183. https://doi.org/10.1016/S0166-4115(08)62386-9
  25. Malte Helmert. 2006. The Fast Downward Planning System. Journal of Artificial Intelligence Research 26, 1 (2006), 191–246. https://doi.org/10.1613/jair.1705
  26. Malte Helmert. 2009. Concise Finite-Domain Representations for PDDL Planning Tasks. Artif. Intell. 173, 5–6 (apr 2009), 503–535. https://doi.org/10.1016/j.artint.2008.10.013
  27. Teaching Novice Programming Using Goals and Plans in a Visual Notation. In Proceedings of the Fourteenth Australasian Computing Education Conference - Volume 123 (Melbourne, Australia) (ACE ’12). Australian Computer Society, Inc., AUS, 43–52. https://dl.acm.org/doi/abs/10.5555/2483716.2483722
  28. Justin Huang and Maya Cakmak. 2017. Code3: A System for End-to-End Programming of Mobile Manipulator Robots for Novices and Experts. In Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction (Vienna, Austria) (HRI ’17). Association for Computing Machinery, New York, NY, USA, 453–462. https://doi.org/10.1145/2909824.3020215
  29. Design and Evaluation of a Rapid Programming System for Service Robots. In The 11th ACM/IEEE International Conference on Human Robot Interaction (Christchurch, New Zealand) (HRI ’16). IEEE Press, New York, NY, USA, 295–302. https://doi.org/10.1109/HRI.2016.7451765
  30. Improved Task Planning through Failure Anticipation in Human-Robot Collaboration. In 2022 International Conference on Robotics and Automation (ICRA). IEEE, New York, NY, USA, 7875–7880. https://doi.org/10.1109/ICRA46639.2022.9812236
  31. The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments. In 2022 International Conference on Robotics and Automation (ICRA). IEEE, New York, NY, USA, 3150–3157. https://doi.org/10.1109/ICRA46639.2022.9811922
  32. Practical semantics for the Internet of Things: Physical states, device mashups, and open questions. In 2015 5th International Conference on the Internet of Things (IOT). IEEE, New York, NY, USA, 54–61. https://doi.org/10.1109/IOT.2015.7356548
  33. JESSIE: Synthesizing Social Robot Behaviors for Personalized Neurorehabilitation and Beyond. In Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (Cambridge, United Kingdom) (HRI ’20). Association for Computing Machinery, New York, NY, USA, 121–130. https://doi.org/10.1145/3319502.3374836
  34. Trigger-Action Programming for Personalising Humanoid Robot Behaviour. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI ’19). Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10.1145/3290605.3300675
  35. End-User Programming of Low-and High-Level Actions for Robotic Task Planning. In 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE, New York, NY, USA, 1–8. https://doi.org/10.1109/RO-MAN46459.2019.8956327
  36. Synthesizing Environment-Aware Activities via Activity Sketches. In 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR). IEEE, New York, NY, USA, 6284–6292. https://doi.org/10.1109/CVPR.2019.00645
  37. Arnold M Lund. 2001. Measuring Usability with the USE Questionnaire. Usability and User Experience Newsletter of the STC Usability SIG 8, 2 (2001), 3–6.
  38. Smart Configuration of Smart Environments. IEEE Transactions on Automation Science and Engineering 13, 3 (2016), 1247–1255. https://doi.org/10.1109/TASE.2016.2533321
  39. GrOWTH: Goal-Oriented End User Development for Web of Things Devices. In Web Engineering, Tommi Mikkonen, Ralf Klamma, and Juan Hernández (Eds.). Springer International Publishing, Cham, 358–365. https://doi.org/10.1007/978-3-319-91662-0_29
  40. Ronald P. A. Petrick and Mary Ellen Foster. 2013. Planning for Social Interaction in a Robot Bartender Domain. In Proceedings of the Twenty-Third International Conference on International Conference on Automated Planning and Scheduling (Rome, Italy) (ICAPS’13). AAAI Press, Washington, DC, USA, 389–397. https://doi.org/10.1609/icaps.v23i1.13589
  41. Authoring and Verifying Human-Robot Interactions. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (Berlin, Germany) (UIST ’18). Association for Computing Machinery, New York, NY, USA, 75–86. https://doi.org/10.1145/3242587.3242634
  42. Sketching Robot Programs On the Fly. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (Stockholm, Sweden) (HRI ’23). Association for Computing Machinery, New York, NY, USA, 584–593. https://doi.org/10.1145/3568162.3576991
  43. Figaro: A Tabletop Authoring Environment for Human-Robot Interaction. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan) (CHI ’21). Association for Computing Machinery, New York, NY, USA, 1–15. https://doi.org/10.1145/3411764.3446864
  44. Choregraphe: a Graphical Tool for Humanoid Robot Programming. In The 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN ’09). IEEE, New York, NY, USA, 46–51. https://doi.org/10.1109/ROMAN.2009.5326209
  45. ROS: an open-source Robot Operating System. In ICRA Workshop on Open Source Software.
  46. Anand S. Rao. 1996. AgentSpeak(L): BDI Agents speak out in a logical computable language. In Agents Breaking Away: 7th European Workshop on Modelling Autonomous Agents in a Multi-Agent World, Walter Van de Velde and John W. Perram (Eds.). Springer Berlin Heidelberg, Berlin, Heidelberg, 42–55. https://doi.org/10.1007/BFb0031845
  47. Sebastian Sardina and Lin Padgham. 2011. A BDI Agent Programming Language with Failure Handling, Declarative Goals, and Planning. Autonomous Agents and Multi-Agent Systems 23, 1 (jul 2011), 18–70. https://doi.org/10.1007/s10458-010-9130-9
  48. Allison Sauppé and Bilge Mutlu. 2014. Design Patterns for Exploring and Prototyping Human-Robot Interactions. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (Toronto, Ontario, Canada) (CHI ’14). Association for Computing Machinery, New York, NY, USA, 1439–1448. https://doi.org/10.1145/2556288.2557057
  49. Authr: A Task Authoring Environment for Human-Robot Teams. In Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology (Virtual Event, USA) (UIST ’20). Association for Computing Machinery, New York, NY, USA, 1194–1208. https://doi.org/10.1145/3379337.3415872
  50. CoFrame: A System for Training Novice Cobot Programmers. In Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction (Sapporo, Hokkaido, Japan) (HRI ’22). IEEE Press, New York, NY, USA, 185–194. https://doi.org/10.1109/HRI53351.2022.9889345
  51. A Hierarchical Goal-Based Formalism and Algorithm for Single-Agent Planning. In Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 2 (Valencia, Spain) (AAMAS ’12). International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC, 981–988. https://dl.acm.org/doi/abs/10.5555/2343776.2343837
  52. The ANML Language. In The ICAPS-08 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS).
  53. Laura Stegner and Bilge Mutlu. 2022. Designing for Caregiving: Integrating Robotic Assistance in Senior Living Communities. In Proceedings of the 2022 ACM Designing Interactive Systems Conference (Virtual Event, Australia) (DIS ’22). Association for Computing Machinery, New York, NY, USA, 1934–1947. https://doi.org/10.1145/3532106.3533536
  54. Unity Technologies. 2023. Unity Real-Time Development Platform. https://unity.com/.
  55. RADAR-X: An Interactive Mixed Initiative Planning Interface Pairing Contrastive Explanations and Revised Plan Suggestions. In Proceedings of the International Conference on Automated Planning and Scheduling, Vol. 32. AAAI Press, Washington, DC, USA, 508–517. https://doi.org/10.1609/icaps.v32i1.19837
Citations (3)
View on Semantic Scholar

Summary

We haven't generated a summary for this paper yet.

Ai Sparkles Streamline Icon: https://streamlinehq.com Summarize Now