Abstract
While industrial collaborative robot programming becomes more and more accessible, building adaptable and modular behaviors is still out of reach for most non-programmer experts. Allowing any human to teach cobots complex and personalized behaviors with natural means of communication would likely ease their acceptability and long-term co-integration in industries of all sizes. In this paper, we present a prototype of robotic cognitive architecture for interactive task learning (ITL) integrating human preferences in a human-robot collaborative industrial context. The architecture is based on integrating connectionist modules, such as deep learning modules, and symbolic semantic graphs, such as behavior trees, for modular skill representations and learning. An experimental validation was made on a real UR10e industrial collaborative robot. The cobot is taught, online and incrementally, a simple task with variations based on human preferences.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Aaltonen, I., Salmi, T.: Experiences and expectations of collaborative robots in industry and academia: barriers and development needs. Procedia Manuf. 38, 1151–1158 (2019). https://doi.org/10.1016/j.promfg.2020.01.204
Akbik, A., Bergmann, T., Blythe, D., Rasul, K., Schweter, S., Vollgraf, R.: FLAIR: an easy-to-use framework for state-of-the-art NLP. In: Proceedings of the 2019 Conference of the North, pp. 54–59. Association for Computational Linguistics, Stroudsburg, PA (2019). https://doi.org/10.18653/v1/N19-4010
Allen, J., Guinn, C., Horvtz, E.: Mixed-initiative interaction. IEEE Intell. Syst. Appl. 14(5), 14–23 (1999). 10/ch7j9k
Broekens, J., Chetouani, M.: Towards transparent robot learning through TDRL-based emotional expressions. IEEE Trans. Affect. Comput. 12(2), 352–362 (2021). https://doi.org/10.1109/TAFFC.2019.2893348
Chernova, S., Thomaz, A.: Robot learning from human teachers. Synth. Lect. Artif. Intell. Mach. Learn. 8, 1–121 (2014). 10/gf7bxx
Chetouani, M.: Interactive robot learning: an overview. In: Chetouani, M., Dignum, V., Lukowicz, P., Sierra, C. (eds.) Human-Centered Artificial Intelligence: Advanced Lectures. Lecture Notes in Computer Science, pp. 140–172. Springer International Publishing, Cham (2023). https://doi.org/10.1007/978-3-031-24349-3_9
Choo, F.X.: Spaun 2.0: extending the world’s largest functional brain model. undefined (2018)
Colledanchise, M., Ögren, P.: Behavior trees in robotics and AI: an introduction (2017). arXiv. https://doi.org/10.1201/9780429489105
Gruber, T.: Ontology. In: Liu, L., Özsu, M.T. (eds.) Encyclopedia of Database Systems, pp. 1963–1965. Springer, US, Boston (2009). https://doi.org/10.1007/978-0-387-39940-9_1318
Hélénon, F., Bimont, L., Nyiri, E., Thiery, S., Gibaru, O.: Learning prohibited and authorised grasping locations from a few demonstrations. In: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 1094–1100 (2020). 10/gk8djs
Hélénon, F., Thiery, S., Nyiri, E., Gibaru, O.: Cognitive architecture for intuitive and interactive task learning in industrial collaborative robotics. In: The 5th International Conference on Robotics, Control and Automation, ICRCA 2021 (2021)
Kotseruba, I., Tsotsos, J.K.: 40 years of cognitive architectures: core cognitive abilities and practical applications. Artif. Intell. Rev. 53(1), 17–94 (2020). https://doi.org/10.1007/s10462-018-9646-y
Laird, J.E.: The Soar Cognitive Architecture. The MIT Press, Cambridge (2018). https://doi.org/10.7551/mitpress/7688.001.0001
Laird, J.E., et al.: Interactive task learning. IEEE Intell. Syst. (2017). https://doi.org/10.1109/MIS.2017.3121552
Lebiere, C.: Act-R. In: Proceedings of the Twenty-Fourth Annual Conference of the Cognitive Science Society (2019). https://doi.org/10.4324/9781315782379-4
Makula, P., Mishra, A., Kumar, A., Karan, K., Mittal, V.K.: Multimodal smart robotic assistant. In: Proceedings of 2015 International Conference on Signal Processing, Computing and Control, ISPCC 2015, pp. 18–23. Institute of Electrical and Electronics Engineers Inc. (2016). https://doi.org/10.1109/ISPCC.2015.7374991
Martinez, G.H., et al.: Single-network whole-body pose estimation. In: Proceedings of the IEEE International Conference on Computer Vision (2019). https://doi.org/10.1109/ICCV.2019.00708
Mohan, S.: From verbs to tasks: an integrated account of learning tasks from situated interactive instruction. Ph.D. thesis, University of Michigan (2015)
Mohseni-Kabir, A., et al.: Simultaneous learning of hierarchy and primitives for complex robot tasks. Auton. Robot. 43(4), 859–874 (2019). https://doi.org/10.1007/s10514-018-9749-y
Munzer, T., Toussaint, M., Lopes, M.: Efficient behavior learning in human–robot collaboration. Auton. Robot. 42(5), 1103–1115 (2018). https://doi.org/10.1007/s10514-017-9674-5
Rensink, R.A.: Seeing, sensing, and scrutinizing. In: Vision Research (2000). https://doi.org/10.1016/S0042-6989(00)00003-1
Rich, C., Sidner, C.L., Lesh, N.: COLLAGEN: applying collaborative discourse theory to human-computer interaction. AI Magazine (2001)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Hélénon, F., Thiery, S., Nyiri, E., Gibaru, O. (2024). A Cognitive Architecture for Human-Aware Interactive Robot Learning with Industrial Collaborative Robots. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_34
Download citation
DOI: https://doi.org/10.1007/978-3-031-58676-7_34
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-58675-0
Online ISBN: 978-3-031-58676-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)