ARDIE: 拡張現実・対話・視線による人とロボットの協調
ARDIE: AR, Dialogue, and Eye Gaze Policies for Human-Robot Collaboration
拡張現実・自然言語・視線のマルチモーダルなフィードバックを統合した意思決定論的枠組みで、人とロボットの協調作業を効率化する知的エージェントを提案した論文。
著者: Chelsea Zou, Kishan Chandan, Yan Ding, Shiqi Zhang
分類: cs.RO
原文アブストラクト
Human-robot collaboration (HRC) has become increasingly relevant in industrial, household, and commercial settings. However, the effectiveness of such collaborations is highly dependent on the human and robots' situational awareness of the environment. Improving this awareness includes not only aligning perceptions in a shared workspace, but also bidirectionally communicating intent and visualizing different states of the environment to enhance scene understanding. In this paper, we propose ARDIE (Augmented Reality with Dialogue and Eye Gaze), a novel intelligent agent that leverages multi-modal feedback cues to enhance HRC. Our system utilizes a decision theoretic framework to formulate a joint policy that incorporates interactive augmented reality (AR), natural language, and eye gaze to portray current and future states of the environment. Through object-specific AR renders, the human can visualize future object interactions to make adjustments as needed, ultimately providing an interactive and efficient collaboration between humans and robots.
