Recent progress in both Artificial Intelligence (AI) and Robotics have enabled the development of general purpose robot platforms that are capable of executing a wide variety of complex, temporally extended service tasks in open environments. This article introduces a novel, custom-designed multi-robot platform for research on AI, robotics, and especially Human-Robot Interaction (HRI) for service robots. Called BWIBots, the robots were designed as a part of the Building-Wide Intelligence (BWI) project at the University of Texas at Austin. The article begins with a description of, and justification for, the hardware and software design decisions underlying the BWIBots, with the aim of informing the design of such platforms in the future. It then proceeds to present an overview of various research contributions that have enabled the BWIBots to better (i) execute action sequences to complete user requests, (ii) efficiently ask questions to resolve user requests, (iii) understand human commands given in natural language, and (iv) understand human intention from afar. The article concludes with a look forward towards future research opportunities and applications enabled by the BWIBot platform.

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Exposure to infant crying is a well-established predictor of mothers' mental health. However, this association may reflect many potential mechanisms. Capturing dynamic fluctuations in mothers’ states simultaneously with caregiving experiences is necessary to identify the real-time processes influencing mental health. In this study, we leveraged ecological momentary assessments (EMAs) and infant-worn audio recorders to capture variability in mothers’ mental health symptoms and their exposure to infant crying over one week in a racially and socio-economically diverse urban North-American sample (N = 53). We use multilevel modeling to characterize within- and between-person effects of crying on maternal negative affect and symptoms of depression and anxiety. Within participants, when infants cried more than average in the 10 min, 1 hr, and 8 hr prior to an EMA report, mothers’ negative affect subsequently increased, controlling for mean levels of infant crying. In contrast to findings from laboratory studies, in everyday settings crying exposure did not immediately increase feelings of depression. Only when crying was above average for 8 hr prior to EMA did mothers report increases in subsequent depression symptoms, suggesting that the effects of crying on maternal mental health take hours to unfold in ecologically valid home settings. Between participants, mothers of infants who cried more on average did not report higher negative affect or symptoms of depression or anxiety. Overall, our findings reveal that crying exposure dynamically influences maternal negative affect and depression but not anxiety in ecologically valid real-world settings.

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