Trust in robots has been gathering attention from multiple directions, as it has special relevance in the theoretical descriptions of human-robot interactions. It is essential for reaching high acceptance and usage rates of robotic technologies in society, as well as for enabling effective human-robot teaming. Researchers have been trying to model the development of trust in robots to improve the overall rapport between humans and robots. Unfortunately, the miscalibration of trust in automation is a common issue that jeopardizes the effectiveness of automation use. It happens when a user's trust levels are not appropriate to the capabilities of the automation being used. Users can be: under-trusting the automation -- when they do not use the functionalities that the machine can perform correctly because of a lack of trust; or over-trusting the automation -- when, due to an excess of trust, they use the machine in situations where its capabilities are not adequate. The main objective of this work is to examine driver's trust development in the ADS. We aim to model how risk factors (e.g.: false alarms and misses from the ADS) and the short-term interactions associated with these risk factors influence the dynamics of drivers' trust in the ADS. The driving context facilitates the instrumentation to measure trusting behaviors, such as drivers' eye movements and usage time of the automated features. Our findings indicate that a reliable characterization of drivers' trusting behaviors and a consequent estimation of trust levels is possible. We expect that these techniques will permit the design of ADSs able to adapt their behaviors to attempt to adjust driver's trust levels. This capability could avoid under- and over-trusting, which could harm their safety or their performance.
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Autoencoders are unsupervised models which have been used for detecting anomalies in multi-sensor environments. A typical use includes training a predictive model with data from sensors operating under normal conditions and using the model to detect anomalies. Anomalies can come either from real changes in the environment (real drift) or from faulty sensory devices (virtual drift); however, the use of Autoencoders to distinguish between different anomalies has not yet been considered. To this end, we first propose the development of Bayesian Autoencoders to quantify epistemic and aleatoric uncertainties. We then test the Bayesian Autoencoder using a real-world industrial dataset for hydraulic condition monitoring. The system is injected with noise and drifts, and we have found the epistemic uncertainty to be less sensitive to sensor perturbations as compared to the reconstruction loss. By observing the reconstructed signals with the uncertainties, we gain interpretable insights, and these uncertainties offer a potential avenue for distinguishing real and virtual drifts.
Drivers have a special status among the developer community that sees them as mysterious and inaccessible. We think their extensive communication with the hardware and their need of high performance are the cause of this bad reputation. According to a widely held view, these two requirements cannot be met using high level languages. However high level languages' compilers and runtimes made great progress these past years to enhance the performance of programs. The use of these languages can also reduce by a significant amount the number of bugs and security issues introduced by the programmers by taking care of some error-prone parts like memory allocation and accesses. We also think that using high level languages can help to demystify the drivers' development. With this project, we try to develop a driver for a network card, the Intel 82599, in C\#. Our goal is to find out the feasibility of such a development and the performance of such a driver. We will also be able to tell what could be missing today in C\# to write a driver. We base our driver on the model proposed by Pirelli (2020) and its implementation in C.
Traffic accidents are a threat to human lives, particularly pedestrians causing premature deaths. Therefore, it is necessary to devise systems to prevent accidents in advance and respond proactively, using potential risky situations as one of the surrogate safety measurements. This study introduces a new concept of a pedestrian safety system that combines the field and the centralized processes. The system can warn of upcoming risks immediately in the field and improve the safety of risk frequent areas by assessing the safety levels of roads without actual collisions. In particular, this study focuses on the latter by introducing a new analytical framework for a crosswalk safety assessment with behaviors of vehicle/pedestrian and environmental features. We obtain these behavioral features from actual traffic video footage in the city with complete automatic processing. The proposed framework mainly analyzes these behaviors in multidimensional perspectives by constructing a data cube structure, which combines the LSTM based predictive collision risk estimation model and the on line analytical processing operations. From the PCR estimation model, we categorize the severity of risks as four levels and apply the proposed framework to assess the crosswalk safety with behavioral features. Our analytic experiments are based on two scenarios, and the various descriptive results are harvested the movement patterns of vehicles and pedestrians by road environment and the relationships between risk levels and car speeds. Thus, the proposed framework can support decision makers by providing valuable information to improve pedestrian safety for future accidents, and it can help us better understand their behaviors near crosswalks proactively. In order to confirm the feasibility and applicability of the proposed framework, we implement and apply it to actual operating CCTVs in Osan City, Korea.
There is a growing interest in more intelligent natural user interaction with the car. Hand gestures and speech are already being applied for driver-car interaction. Moreover, multimodal approaches are also showing promise in the automotive industry. In this paper, we utilize deep learning for a multimodal fusion network for referencing objects outside the vehicle. We use features from gaze, head pose and finger pointing simultaneously to precisely predict the referenced objects in different car poses. We demonstrate the practical limitations of each modality when used for a natural form of referencing, specifically inside the car. As evident from our results, we overcome the modality specific limitations, to a large extent, by the addition of other modalities. This work highlights the importance of multimodal sensing, especially when moving towards natural user interaction. Furthermore, our user based analysis shows noteworthy differences in recognition of user behavior depending upon the vehicle pose.
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions, such as running and hopping, the robot hardware will suffer from impacts with the environment and deform in vulnerable parts, which invalidates the predefined model. Thus, it is desired to have an adaptable kinematic structure that takes deformation into consideration. To account for this we propose an approach that models all of the robotic joints as 6-DOF joints and develop an algorithm that can identify the kinematic structure from motion capture data. We evaluate the algorithm's performance both in simulation - a three link pendulum, and on a bipedal robot - ATRIAS. In the simulated case the algorithm produces a result that has a 3.6% error compared to the ground truth, and on the real life bipedal robot the algorithm's result confirms our prior assumption where the joint deforms on out-of-plane degrees of freedom. In addition our algorithm is able to predict torques and forces using the reconstructed joint mode.
One of the main challenges in autonomous robotic exploration and navigation in unknown and unstructured environments is determining where the robot can or cannot safely move. A significant source of difficulty in this determination arises from stochasticity and uncertainty, coming from localization error, sensor sparsity and noise, difficult-to-model robot-ground interactions, and disturbances to the motion of the vehicle. Classical approaches to this problem rely on geometric analysis of the surrounding terrain, which can be prone to modeling errors and can be computationally expensive. Moreover, modeling the distribution of uncertain traversability costs is a difficult task, compounded by the various error sources mentioned above. In this work, we take a principled learning approach to this problem. We introduce a neural network architecture for robustly learning the distribution of traversability costs. Because we are motivated by preserving the life of the robot, we tackle this learning problem from the perspective of learning tail-risks, i.e. the Conditional Value-at-Risk (CVaR). We show that this approach reliably learns the expected tail risk given a desired probability risk threshold between 0 and 1, producing a traversability costmap which is more robust to outliers, more accurately captures tail risks, and is more computationally efficient, when compared against baselines. We validate our method on data collected a legged robot navigating challenging, unstructured environments including an abandoned subway, limestone caves, and lava tube caves.
With increasing automation in passenger vehicles, the study of safe and smooth occupant-vehicle interaction and control transitions is key. In this study, we focus on the development of contextual, semantically meaningful representations of the driver state, which can then be used to determine the appropriate timing and conditions for transfer of control between driver and vehicle. To this end, we conduct a large-scale real-world controlled data study where participants are instructed to take-over control from an autonomous agent under different driving conditions while engaged in a variety of distracting activities. These take-over events are captured using multiple driver-facing cameras, which when labelled result in a dataset of control transitions and their corresponding take-over times (TOTs). We then develop and train TOT models that operate sequentially on mid to high-level features produced by computer vision algorithms operating on different driver-facing camera views. The proposed TOT model produces continuous predictions of take-over times without delay, and shows promising qualitative and quantitative results in complex real-world scenarios.
Neural Network Based Reinforcement Learning for Audio-Visual Gaze Control in Human-Robot Interaction
This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of external sensors nor with human supervision. The robot learns to focus its attention onto groups of people from its own audio-visual experiences, independently of the number of people, of their positions and of their physical appearances. In particular, we use a recurrent neural network architecture in combination with Q-learning to find an optimal action-selection policy; we pre-train the network using a simulated environment that mimics realistic scenarios that involve speaking/silent participants, thus avoiding the need of tedious sessions of a robot interacting with people. Our experimental evaluation suggests that the proposed method is robust against parameter estimation, i.e. the parameter values yielded by the method do not have a decisive impact on the performance. The best results are obtained when both audio and visual information is jointly used. Experiments with the Nao robot indicate that our framework is a step forward towards the autonomous learning of socially acceptable gaze behavior.
Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects (vehicles), capable of accepting object proposals from different sensor modalities (vision and range) and a variable number of sensors, to produce continuous object tracks. This work is inspired by traditional tracking-by-detection approaches in computer vision, with some key differences - First, we track objects across multiple cameras and across different sensor modalities. This is done by fusing object proposals across sensors accurately and efficiently. Second, the objects of interest (targets) are tracked directly in the real world. This is a departure from traditional techniques where objects are simply tracked in the image plane. Doing so allows the tracks to be readily used by an autonomous agent for navigation and related tasks. To verify the effectiveness of our approach, we test it on real world highway data collected from a heavily sensorized testbed capable of capturing full-surround information. We demonstrate that our framework is well-suited to track objects through entire maneuvers around the ego-vehicle, some of which take more than a few minutes to complete. We also leverage the modularity of our approach by comparing the effects of including/excluding different sensors, changing the total number of sensors, and the quality of object proposals on the final tracking result.
While attributes have been widely used for person re-identification (Re-ID) that matches the same person images across disjoint camera views, they are used either as extra features or for performing multi-task learning to assist the image-image person matching task. However, how to find a set of person images according to a given attribute description, which is very practical in many surveillance applications, remains a rarely investigated cross-modal matching problem in Person Re-ID. In this work, we present this challenge and employ adversarial learning to formulate the attribute-image cross-modal person Re-ID model. By imposing the regularization on the semantic consistency constraint across modalities, the adversarial learning enables generating image-analogous concepts for query attributes and getting it matched with image in both global level and semantic ID level. We conducted extensive experiments on three attribute datasets and demonstrated that the adversarial modelling is so far the most effective for the attributeimage cross-modal person Re-ID problem.
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