Publications - Human-Robot Interaction with Explainable AI

The following publications have been published by the Human-Robot Interaction with Explainable AI team in the course of their ORCA Hub research to date.

Topic map grouping together publications by theme

Abdelrahman Yaseen, Katrin Lohan. (2018). Playing Pairs with Pepper. AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction 2018, Arlington, United States

Ahmad, M. I., Keller I., Lohan K. S. (2019). Integrated real-time, non-intrusive Measurements for Mental Load. CHI’19 Workshop: Everyday Automation Experience: Non-Expert Users Encountering Ubiquitous Automated Systems, Glasgow, UK

Angelov Daniel, Hristov Yordan, Ramamoorthy Subramanian. (2019). Using Causal Analysis to Learn Specifications from Task Demonstrations. Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, Pages 1341-1349, Montreal QC, Canada, 2019, arXiv:1903.01267

Angelov, D., S.Ramamoorthy. (2018). Learning from demonstration of trajectory preferences through causal modeling and inference. RSS 2018

Ardon P, Pairet E, Petrick R, Ramamoorthy S, Lohan K. (2019). Learning Grasp Affordance Reasoning Through Semantic Relations. IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4571-4578, Oct. 2019, doi: 10.1109/LRA.2019.2933815

Ardón P., Pairet È., Petrick R., Ramamoorthy S., Lohan K. (2019) Reasoning on Grasp-Action Affordances. In: Althoefer K., Konstantinova J., Zhang K. (eds) Towards Autonomous Robotic Systems. 20th Towards Autonomous Robotic Systems Conference (TAROS) 2019. Lecture Notes in Computer Science, vol 11649. Springer, Cham. doi: 10.1007/978-3-030-23807-0_1

Burke M, Valentinov Penkov S, Ramamoorthy S. (2019). From Explanation to Synthesis: Compositional Program Induction for Learning from Demonstration. Proceedings of Robotics: Science and Systems, 2019, Freiburg im Breisgau, Germany. doi: 10.15607/RSS.2019.XV.015

Chiyah Garcia F, Robb D, Liu X, Laskov A, Patron P, Hastie H. (2018). Explainable Autonomy: A Study of Explanation Styles for Building Clear Mental Models. Proceedings of the 11th International Conference on Natural Language Generation, 2018, Tilburg, The Netherlands, pages 99-108,doi: 10.18653/v1/W18-6511

Chiyah Garcia, F. J., Robb D.A., Liu X., Laskov A., Patron P., Hastie H. (2018). Explain Yourself: A Natural Language Interface for Scrutable Autonomous Robots. Proceedings of Explainable Robotic Systems Workshop, HRI'18

Deshmukh A, Lohan K, Rajendran G, Aylett R. (2018). Social Impact of Recharging Activity in Long-Term HRI and Verbal Strategies to Manage User Expectations During Recharge. Frontiers in Robotics and AI, doi: 10.3389/frobt.2018.00023

Georgios Minadakis, Katrin Lohan. (2018). Using pupil diameter to measure Cognitive load. Proceedings of the AI-HRI Symposium at AAAI-FSS 2018

Ghosh A, Hoel E, Güting R, Tamassia R, Xiong L, Rozemberczki B, ... Sarkar R. (2018). Topological signatures for fast mobility analysis. Proceedings of the 26th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems, November 2018, Pages 159–168, doi: 10.1145/3274895.3274952

Hastie H, Lohan K, Deshmukh A, Broz F, Aylett R. (2017). The Interaction Between Voice and Appearance in the Embodiment of a Robot Tutor. Social Robotics. ICSR 2017. Lecture Notes in Computer Science, vol 10652. Springer, Cham. doi: 10.1007/978-3-319-70022-9_7

Hastie H, Lohan K, Chantler M, Robb D.A., Petrick R, Lane D., ... Vijayakuma S. (2018). The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces. 13th Annual ACM/IEEE International Conference on Human Robot Interaction: HRI Workshop on Explainable Robotic Systems - Chicago, United States

Hastie H, Chiyah Garcia F, Robb D, Laskov A, Patron P. (2018). MIRIAM: A Multimodal Interface for Explaining the Reasoning Behind Actions of Remote Autonomous Systems. ICMI '18: Proceedings of the 20th ACM International Conference on Multimodal Interaction, October 2018 Pages 557–558, doi:10.1145/3242969.3266297

Hastie, H., Robb, D. A., Lopes, J. D., Ahmad, M., Le Bras, P., Liu, X., Petrick, R. P. A., Lohan, K., & Chantler, M. J. (2019). Challenges in Collaborative HRI for Remote Robot Teams. In CHI2019 Workshop on The Challenges of Working on Social Robots that Collaborate with People (SIRCHI 2019)

Innes Craig, Ramamoorthy Subramanian. (2020). Elaborating on Learned Demonstrations with Temporal Logic Specifications. arXiv e-prints, pp. arXiv:2002.00784

Jonell P, Fallgren P, Doğan F, Lopes J, Wennberg U, Skantze G. (2019). Crowdsourcing a self-evolving dialog graph. CUI '19: Proceedings of the 1st International Conference on Conversational User Interfaces, August 2019 Article No: 14, Pages 1–8, doi: 10.1145/3342775.3342790

Keller I, Lohan K. (2020). On the Illumination Influence for Object Learning on Robot Companions. (2020), Frontiers in Robotics and AI, volume 6, page 154, doi: 10.3389/frobt.2019.00154

Keller, I., Ahmad, M., & Lohan, K. S. (2019). Multi-Modal Measurements of Mental Load. Paper presented at CHI'19 Workshop 12:"The Challenges of Working on Social Robots that Collaborate with People", Glasgow, United Kingdom

Le Bras P, Robb D, Methven T, Padilla S, Chantler M. (2018). Improving User Confidence in Concept Maps. Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems. Association for Computing Machinery, New York, NY, USA, Paper 404, 1–13, doi: 10.1145/3173574.3173978

Linson A, Clark A, Ramamoorthy S, Friston K. (2018). The Active Inference Approach to Ecological Perception: General Information Dynamics for Natural and Artificial Embodied Cognition. Frontiers in Robotics and AI, doi: 10.3389/frobt.2018.00021

Lopes J, Lohan K, Hastie H. (2018). Symptoms of cognitive load in interactions with a dialogue system. MCPMD '18: Proceedings of the Workshop on Modeling Cognitive Processes from Multimodal Data, October 2018, Article No.: 4 Pages 1–5, doi: 10.1145/3279810.3279851

Lopes J, Robb D, Ahmad M, Liu X, Lohan K, Hastie H. (2019). Towards a Conversational Agent for Remote Robot-Human Teaming (2019). 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Daegu, Korea (South), 2019, pp. 548-549, doi: 10.1109/HRI.2019.8673286

López-Guevara, T., R. Pucci, N.K. Taylor, M.U. Gutmann, S. Ramamoorthy, K. Subr. (2019). To Stir or Not to Stir: Online Estimation of Liquid Properties for Pouring Actions, arXiv preprint arXiv:1904.02431

Ahmad M.I., Robb D.A., Keller I., Lohan K. (2020) Towards a Multimodal Measure for Physiological Behaviours to Estimate Cognitive Load. In: Harris D., Li WC. (eds) Engineering Psychology and Cognitive Ergonomics. Mental Workload, Human Physiology, and Human Energy. HCII 2020. Lecture Notes in Computer Science, vol 12186. pp 3-13, Springer, Cham. doi: 10.1007/978-3-030-49044-7_1

Chantler, M. & Padilla, Stefano & Methven, Thomas & Robb, David & Le Bras, Pierre & Howden, Tanya & Gharavi, Azimeh & Chalkiadakis, Ioannis & Liang, Yibo. (2018). People Driven AI & Data Innovation. doi: 10.13140/RG.2.2.24397.49125

Pairet E, Ardon P, Liu X, Lopes J, Hastie H, Lohan K. (2019). A Digital Twin for Human-Robot Interaction. 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Daegu, Korea (South), 2019, pp. 372-372, doi: 10.1109/HRI.2019.8673015

Ardón, Paola & Pairet, Èric & Ramamoorthy, Subramanian & Lohan, Katrin. (2018). Towards Robust Grasps: Using the Environment Semantics for Robotic Object Affordances. Proceedings of AAAI 2018 Fall Symposium: Reasoning and Learning in Real World Systems for Long-term Autonomy, Arlington, United States

Ramirez P, Ramamoorthy S, Lohan K. (2018). Object Affordances by Inferring on the Surroundings*. 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), Genova, Italy, 2018, pp. 69-70, doi: 10.1109/ARSO.2018.8625829

Robb D, Chiyah Garcia F, Laskov A, Liu X, Patron P, Hastie H. (2018). Keep Me in the Loop: Increasing Operator Situation Awareness through a Conversational Multimodal Interface. Proceedings of the 20th ACM International Conference on Multimodal Interaction (ICMI '18). Association for Computing Machinery, New York, NY, USA, 384–392. doi: 10.1145/3242969.3242974

Robb D, Willners J, Valeyrie N, Garcia F, Laskov A, Liu X, ... Petillot Y. (2018). A Natural Language Interface with Relayed Acoustic Communications for Improved Command and Control of AUVs. 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), Porto, Portugal, 2018, pp. 1-6, doi: 10.1109/AUV.2018.8729778

Robb D, Bardzell S, Neustaedter C, Tatar D, Lopes J, Padilla S, ... Hastie H. (2019). Exploring Interaction with Remote Autonomous Systems using Conversational Agents. Proceedings of the 2019 on Designing Interactive Systems Conference (DIS '19), Pages 1543-1556, doi: 10.1145/3322276.3322318

Robb D, Young J, Gunes H, Riek L, Ahmad M, Tiseo C, ... Lohan K. (2020). Robots in the Danger Zone: Exploring Public Perception through Engagement. Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI '20). Association for Computing Machinery, New York, NY, USA, 93–102. doi: 10.1145/3319502.3374789

Penkov S, Ramamoorthy S. (2019). Learning programmatically structured representations with preceptor gradients. International Conference on Learning Representations (ICLR), 2019

Introducing MIRIAM:

Although ORCA is working to reduce the need for personnel in hazardous environments, it is essential that onshore operators maintain situation awareness to monitor the mission and handle unforeseen circumstances.

MIRIAM (Multimodal Intelligent inteRaction for Autonomous systeMs) combines visual indicators of status with a conversational agent component and offers a fluid and natural way for operators to gain information on vehicle status, explanations of system behaviour and mission progress.