[PDF] RHUM Robots in Human Environments - PERSYVAL-Lab

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RHUM Robots in Human Environments - PERSYVAL-Lab

Scientific Days, June 13th & 14th, 2017 RHUM Robots in Human Environments O Aycard (LIG), G Bailly (GIPSA-Lab) & P B Wieber(INRIA-LJK) Grenoble -June2017 This work has been partially supported by the LabEx PERSYVAL-Lab (ANR-11-LABX-0025-01)

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Scientific Days, June 13th&14th, 2017

RHUM

Robots in HumanEnvironments

This work has been partially supported by the LabExPERSYVAL-Lab (ANR-11-LABX-0025-01) ourdailylives

Europe

CA-RoboComone of the 6 preselected H2020 FET flagships; FP7 ICT work program: Challenge 2: Cognitive Systems & Robotics.

France Robots Initiatives

Innorobo.

Rhône-Alps

Coboteam(ARDI) & Plan RobotiqueRégional.

Grenoble

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Scientific Days, June 13th&14th, 2017

General Framework

Robots share their environments & tasks

Current robots exhibit impressive behaviors but:

Need to be adapted to human environments;

Need robustness and safety to be deployed at a large-scale; Their interactions are often stereotypic and lack context-sensitivity, notably to variety of end-users profiles. 3/17

Scientific Days, June 13th&14th, 2017

Objectives of the EA:

Federate a plurisdisciplinaryteam on RHUM;

Networking numerous experimental platforms & sharing resources.

Grenoble assets

Large coverage of complementary expertise on RHUM:

4 labs (GIPSA-Lab, LIG, LJK, TIMC);

10 teams;

26 researchers.

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Organizationof RHUM

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Workinggroups (1/2)

4 working groups (GT) targeting precise scientific challenges:

Experimentation & robot design (GT0): gathering traces/interaction signals Perception & scene comprehension (GT1): perception in motion, active Action & motion in human envt. (GT2): closer coupling between planning & Social interaction (GT3): automatic processing of social signals, automatic Pairs of permanent researchers from different labs

EA support: 6 M2R internships in 2016

1 GT0, 2 GT1, 1 GT2, 2 GT3

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Robot Qbo

Workinggroups (2/2)

Subject:Development of an audiovisual model of attention for a companion robot (GT1) 7/17

Scientific Days, June 13th&14th, 2017

Rémi Ratajczak-M2R IRIV Strasbourg / D. Pellerin & C. Garbay

Results: Conception & implementation

of a rapid audiovisual model of attention that includes the detection and localization of humans for a companion robot Qbo

Publication:the First International

Conferenceon Applications and Systems

of Visual Paradigms(VISUAL 2016)

Funding: Qbowasfundedby a persyval

ExploratoryProject betweenGIPSA-lab&

LIG Subject:Development of an audiovisual model of attention for a companion robot (GT1) 7/17

Scientific Days, June 13th&14th, 2017

Rémi Ratajczak-M2R IRIV Strasbourg / D. Pellerin & C. Garbay

Robot Qbo

Workinggroups (2/2)

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Organizationof RHUM

3 complementary actions

1.4 working groups (GT) targeting precise scientific

challenges;

2.2 interdisciplinary inter-GT challenges;

3.Dissemination, support to challenges and links with

teaching. 10/14

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Interdisciplinaryinter-GT challenges (1/5)

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Interdisciplinaryinter-GT challenges (2/5)

Safe and Appropriate Navigation among People for Service

Robots

Matteo Cioccasupervised by T. Fraichard/P.B. Wieber Integration of Motion Safety into a Model Predictive Control for biped robots to navigate appropriately among people. Motion Safetybased on Inevitable Collision State (ICS) [T.

Fraichardand H. Asama];

Peopledescribed via pedestrian modeling;

Control designaccording to Feasibility and Stability [D. Q.

Mayne et al];

Appropriate navigationevaluation: controller parameters, reasons of failure. 10/17

Scientific Days, June 13th&14th, 2017

Related Material:

[Bohórquezet al, 16] Integration of Passive Safety level into Model predictive control for biped robots; [Hang Yu Master Thesis] Formal characterization of Passive Friendly

Safety (PFS).

First Tasks:

in [Bohórquezet al, 16]; Performance evaluation of Passive Friendly Safety (PFS) for biped robots.

Open Question:

Implicit integration of Motion Safety Constraints into the Model predictive control problem. 13/14 11/17

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Interdisciplinaryinter-GT challenges (4/5)

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Interdisciplinaryinter-GT challenges (5/5)

Tasks

Identification

ImageNet transfer

Captioning

ML: classification vs.

regression

Writing styles

MDS vs. DNN bottleneck

Open questions

Known/new letter/style

Coverage, outliers

Goodness of fit

Transfer learning

New letters

Stroke decomposition

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Organizationof RHUM

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Dissemination, support to challenges and links with teaching

3.Links with teaching

EA support: support for workshops & challenges

Scientific Days, June 13th&14th, 2017

Conclusions & perspectives

Robot as a cyber-physical system evolving in humans environment

Transdisciplinary challenge;

Multiscale project

Enables specific exploratory works: 4 WG;

Supports collaborative works: 2 PhD;

Dissemination (+animation/structuration) and support.

Mobilization of the local community

Offers a place for cross-labs exchanges and debates. Unique opportunity for structuring & coordinating robotics Offers the possibility to set up a Grenoble identity at the national level; Reassembles a critical mass of researchers in order to shift projects upscale: EUR, CDP (Cross Disciplinary Project), Carnot Cognition, ANR,

European project.

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