The Director Task: a Psychology-Inspired Task to Assess Cognitive and Interactive Robot Architectures

Abstract

Assessing robotic architecture for Human-Robot Interaction can be challenging due to the number of features a robot has to endow to perform an acceptable interaction. While everyday-inspired tasks are interesting as reflecting a realistic use of such robots, they often contain a lot of unknown and uncontrolled conditions and specific robot behavior can be hard to test. In this paper, we propose a new psychology-inspired task, gathering perspective-taking, planning, knowledge representation with theory of mind, manipulation, and communication. Along with a precise description of the task allowing its replication, we present a cognitive robot architecture able to perform it in its nominal cases. We finally suggest some challenges and evaluations for the Human-Robot Interaction research community, all derived from this easy-to-replicate task.

Overworld: Assessing the Geometry of the World for Human-Robot Interaction

“…Overworld has been successfully integrated into the DA-COBOT robotic architecture and tested on two robots (Pr2 and Pepper) to pass the Director Task [24]. The implementation on Pr2 has been used with object detection based on tags and the robot grippers, and human detection based on external motion capture.…”

“…Overworld is part of the DACOBOT architecture [24]. It is strongly linked to the software Ontologenius [23], a semantic knowledge base dedicated to HRI.…”

JAHRVIS, a Supervision System for Human-Robot Collaboration

“…We have proposed a generic supervision software dedicated to human-robot collaboration, within a cognitive architecture, which manages the robot high-level decisions. It was used to control the robot in different task contexts: the StackBuildingTask as presented in this paper, the Director Task [18], a tabletop scenario [28], [29], and a directiongiving task [30]. Have we fulfilled the requirements listed in Section III-A?…”

“…This architecture in which the supervision is integrated is shown in Fig. 1 and has been described in [18]. In this section, we give a quick overview of this architecture.…”

HATP/EHDA: A Robot Task Planner Anticipating and Eliciting Human Decisions and Actions

“…Using HATP/EHDA on a real collaborative setting HATP/EHDA has been integrated into a complete robotic architecture dedicated to human-robot collaboration [21],…”