scholarly journals Planning and Reinforcement Learning for General-Purpose Service Robots

2021 ◽  
Author(s):  
Yuqian Jiang
Keyword(s):  
Reinforcement Learning ◽  
General Purpose ◽  
Service Robots ◽  
Service Robot ◽  
Robot Systems ◽  
Significant Step ◽  
Robot Tasks ◽  
Learning To Reason ◽  
High Level ◽  
And Robotics

Despite recent progress in AI and robotics research, especially learned robot skills, there remain significant challenges in building robust, scalable, and general-purpose systems for service robots. This Ph.D. research aims to combine symbolic planning and reinforcement learning to reason about high-level robot tasks and adapt to the real world. We will introduce task planning algorithms that adapt to the environment and other agents, as well as reinforcement learning methods that are practical for service robot systems. Taken together, this work will make a significant step towards creating general-purpose service robots.

The robot-to-robot service encounter: an examination of the impact of inter-robot warmth

2021 ◽  
Vol 35 (9) ◽  
pp. 15-27
Author(s):  
Magnus Söderlund
Keyword(s):  
Design Methodology ◽  
Service Robots ◽  
Service Robot ◽  
Service Encounters ◽  
Experimental Setting ◽  
Content Type ◽  
Robot Systems ◽  
Synthetic Agents ◽  
High Level ◽  
The Impact

Purpose This study aims to examine humans’ reactions to service robots’ display of warmth in robot-to-robot interactions – a setting in which humans’ impressions of a service robot will not only be based on what this robot does in relation to humans, but also on what it does to other robots. Design/methodology/approach Service robot display of warmth was manipulated in an experimental setting in such a way that a service robot A expressed low versus high levels of warmth in relation to another service robot B. Findings The results indicate that a high level of warmth expressed by robot A vis-à-vis robot B boosted humans’ overall evaluations of A, and that this influence was mediated by the perceived humanness and the perceived happiness of A. Originality/value Numerous studies have examined humans’ reactions when they interact with a service robot or other synthetic agents that provide service. Future service encounters, however, will comprise also multi-robot systems, which means that there will be many opportunities for humans to be exposed to robot-to-robot interactions. Yet, this setting has hitherto rarely been examined in the service literature.

scholarly journals sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

2021 ◽  
Author(s):  
Luis Contreras ◽  
Yosuke Matsusaka ◽  
Takashi Yamamoto ◽  
Hiroyuki Okada
Keyword(s):  
General Purpose ◽  
Domestic Service ◽  
Service Robots ◽  
Annual Conference ◽  
Domestic Environment ◽  
Fully Integrated ◽  
The World ◽  
Robot Systems

Although the skills required to solve isolated robotics problems are reaching amazing performances recently, we propose the evaluation of such individual solutions in fully integrated robot systems tested in real daily situations like those presented at international robotics competitions. The simulation Domestic Standard Platform League (sDSPL), which utilizes the HSR simulator developed for the World Robot Summit, surges from the necessity to standardise and spread the research on Domestic Service Robots where a series of solutions can be tested to solve a general-purpose task in a standard domestic environment; this approach has been proven successful at several international competitions, namely, the RoboCup Japan Open, the Mexican Tournament of Robotics, and the RoboCup 2021.<div><br></div><div>**This work was accepted to The 39th Annual Conference of the Robotics Society of Japan.<br></div>

scholarly journals Unified Software Platform for Intelligent Home Service Robots

2020 ◽  
Vol 10 (17) ◽  
pp. 5874
Author(s):  
Jae-Bong Yi ◽  
Taewoong Kang ◽  
Dongwoon Song ◽  
Seung-Joon Yi
Keyword(s):  
General Purpose ◽  
Service Robots ◽  
Service Robot ◽  
Physical Work ◽  
Software Framework ◽  
Mobile Manipulation ◽  
Autonomous Operation ◽  
Home Service ◽  
Manipulation Robots ◽  
Human Support

Although the mobile manipulation capability is crucial for a service robot to perform physical work without human support, the long-term autonomous operation of such a mobile manipulation robot in a real environment is still a tremendously difficult task. In this paper, we present a modular, general purpose software framework for intelligent mobile manipulation robots that can interact with humans using complex human speech commands; navigate smoothly in tight indoor spaces; and finally detect and manipulate various household objects and pieces of furniture autonomously. The suggested software framework is designed to be easily transferred to different home service robots, which include the Toyota Human Support Robot (HSR) and our Modular Service Robot-1 (MSR-1) platforms. It has successfully been used to solve various home service tasks at the RoboCup@Home and World Robot Summit international service robot competitions with promising results.

The Art of Gate-Crashing

2009 ◽  
Vol 10 (3) ◽  
pp. 274-297 ◽  
Author(s):  
Helge Hüttenrauch ◽  
Elin A. Topp ◽  
Kerstin Severinson-Eklundh
Keyword(s):  
General Purpose ◽  
Human Robot Interaction ◽  
Service Robots ◽  
Service Robot ◽  
Laboratory Studies ◽  
Service Robotics ◽  
Robot Interaction ◽  
Sensory Data ◽  
Spatial Management ◽  
Personal Robot

Special purpose service robots have already entered the market and their users’ homes. Also the idea of the general purpose service robot or personal robot companion is increasingly discussed and investigated. To probe human–robot interaction with a mobile robot in arbitrary domestic settings, we conducted a study in eight different homes. Based on previous results from laboratory studies we identified particular interaction situations which should be studied thoroughly in real home settings. Based upon the collected sensory data from the robot we found that the different environments influenced the spatial management observable during our subjects’ interaction with the robot. We also validated empirically that the concept of spatial prompting can aid spatial management and communication, and assume this concept to be helpful for Human–Robot Interaction (HRI) design. In this article we report on our exploratory field study and our findings regarding, in particular, the spatial management observed during show episodes and movement through narrow passages. Keywords: COGNIRON, Domestic Service Robotics, Robot Field Trial, Human Augmented Mapping (HAM), Human–Robot Interaction (HRI), Spatial Management, Spatial Prompting

scholarly journals Semantic Task Planning for Service Robots in Open Worlds

2021 ◽  
Vol 13 (2) ◽  
pp. 49
Author(s):  
Guowei Cui ◽  
Wei Shuai ◽  
Xiaoping Chen
Keyword(s):  
Language Processing ◽  
Domain Knowledge ◽  
Environmental Changes ◽  
General Purpose ◽  
Planning System ◽  
Service Robots ◽  
Service Robot ◽  
Dynamic Changes ◽  
World State ◽  
Open World

This paper presents a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic changes. First, Two kinds of data are generated by Natural Language Processing module from the speech: (i) action frames and their relationships; (ii) the modifier used to indicate some property or characteristic of a variable in the action frame. Next, the task’s goals are generated from these action frames and modifiers. These goals are represented as AI symbols, combining world state and domain knowledge, which are used to generate plans by an Answer Set Programming solver. Finally, the plan’s actions are executed one by one, and continuous sensing grounds useful information, which makes the robot use contingent knowledge to adapt to dynamic changes and faults. For each action in the plan, the planner gets its preconditions and effects from domain knowledge, so during the execution of the task, the environmental changes, especially those conflict with the actions, not only the action being performed but also the subsequent actions, can be detected and handled as early as possible. A series of case studies are used to evaluate the system and verify its ability to acquire knowledge through dialogue with users, solve problems with the acquired causal knowledge, and plan for complex tasks autonomously in the open world.

scholarly journals Design of Smart Home Service Robot Based on ROS

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Jiansheng Peng ◽  
Hemin Ye ◽  
Qiwen He ◽  
Yong Qin ◽  
Zhenwu Wan ◽  
...  
Keyword(s):  
Smart Home ◽  
Service Robots ◽  
Service Robot ◽  
Raspberry Pi ◽  
Robot System ◽  
Gas Leakage ◽  
Home Service Robot ◽  
Home Service ◽  
Robot Systems ◽  
And Control

At present, the functions of home service robots are not perfect, and home service robot systems that can independently complete autonomous inspections and home services are still lacking. In response to this problem, this paper designs a smart home service robot system based on ROS. The system uses Raspberry Pi 3B as the main control to manage the nodes of each sensor. CC2530 sets up a ZigBee network to collect home environmental information and control home electrical appliances. The image information of the home is collected by the USB camera. The human speech is recognized by Baidu Speech Recognition API. When encountering a dangerous situation, the GSM module is used to give users SMS and phone alarms. Arduino mega2560 is used as the bottom controller to control the movement of the service robot. The indoor environment map of the home is constructed by the lidar and the attitude sensor. The service robot finally designed and developed realizes the functions of wireless control of home appliances, voice remote control, autonomous positioning and navigation, liquefied gas leakage alarm, and human infrared detection alarm. Compared with the household service robots in the related literature, the household service robots developed by us have more complete functions. And the robot system has completed the task of combining independent patrol and home service well.

scholarly journals sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

2021 ◽  
Author(s):  
Luis Contreras ◽  
Yosuke Matsusaka ◽  
Takashi Yamamoto ◽  
Hiroyuki Okada
Keyword(s):  
General Purpose ◽  
Domestic Service ◽  
Service Robots ◽  
Annual Conference ◽  
Domestic Environment ◽  
Fully Integrated ◽  
The World ◽  
Robot Systems

Although the skills required to solve isolated robotics problems are reaching amazing performances recently, we propose the evaluation of such individual solutions in fully integrated robot systems tested in real daily situations like those presented at international robotics competitions. The simulation Domestic Standard Platform League (sDSPL), which utilizes the HSR simulator developed for the World Robot Summit, surges from the necessity to standardise and spread the research on Domestic Service Robots where a series of solutions can be tested to solve a general-purpose task in a standard domestic environment; this approach has been proven successful at several international competitions, namely, the RoboCup Japan Open, the Mexican Tournament of Robotics, and the RoboCup 2021.<div><br></div><div>**This work was accepted to The 39th Annual Conference of the Robotics Society of Japan.<br></div>

scholarly journals Enhanced Reinforcement Learning Method Combining One-Hot Encoding-Based Vectors for CNN-Based Alternative High-Level Decisions

2021 ◽  
Vol 11 (3) ◽  
pp. 1291
Author(s):  
Bonwoo Gu ◽  
Yunsick Sung
Keyword(s):  
Reinforcement Learning ◽  
Search Algorithm ◽  
Classification Criteria ◽  
Tree Search ◽  
Learning Method ◽  
Board Game ◽  
Ancient China ◽  
Monte Carlo Tree Search ◽  
High Level ◽  
Tree Search Algorithm

Gomoku is a two-player board game that originated in ancient China. There are various cases of developing Gomoku using artificial intelligence, such as a genetic algorithm and a tree search algorithm. Alpha-Gomoku, Gomoku AI built with Alpha-Go’s algorithm, defines all possible situations in the Gomoku board using Monte-Carlo tree search (MCTS), and minimizes the probability of learning other correct answers in the duplicated Gomoku board situation. However, in the tree search algorithm, the accuracy drops, because the classification criteria are manually set. In this paper, we propose an improved reinforcement learning-based high-level decision approach using convolutional neural networks (CNN). The proposed algorithm expresses each state as One-Hot Encoding based vectors and determines the state of the Gomoku board by combining the similar state of One-Hot Encoding based vectors. Thus, in a case where a stone that is determined by CNN has already been placed or cannot be placed, we suggest a method for selecting an alternative. We verify the proposed method of Gomoku AI in GuPyEngine, a Python-based 3D simulation platform.

scholarly journals Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110121
Author(s):  
David Portugal ◽  
André G Araújo ◽  
Micael S Couceiro
Keyword(s):  
Real World ◽  
Service Robots ◽  
Service Robot ◽  
Technology Readiness ◽  
Incremental Approach ◽  
Technology Readiness Level ◽  
Readiness Level ◽  
Software And Hardware ◽  
Indoor Monitoring

To move out of the lab, service robots must reveal a proven robustness so they can be deployed in operational environments. This means that they should function steadily for long periods of time in real-world areas under uncertainty, without any human intervention, and exhibiting a mature technology readiness level. In this work, we describe an incremental methodology for the implementation of an innovative service robot, entirely developed from the outset, to monitor large indoor areas shared by humans and other obstacles. Focusing especially on the reliability of the fundamental localization system of the robot in the long term, we discuss all the incremental software and hardware features, design choices, and adjustments conducted, and show their impact on the performance of the robot in the real world, in three distinct 24-h long trials, with the ultimate goal of validating the proposed mobile robot solution for indoor monitoring.

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