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Publications (10 of 22) Show all publications
Renoux, J., Grosinger, J., Romeo, M., Sabu, K. M., Baraka, K. & Kaptelinin, V. (2024). Communication in Human-AI Interaction - CHAI (preface). In: Ericson P., Khairova N., De Vos M. (Ed.), CEUR Workshop Proceedings: . Paper presented at 3rd International Conference on Hybrid Human-Artificial Intelligence, HHAI-WS 2024, Malmo 10-11 June 2024 (pp. 78-83). CEUR-WS, 3825
Open this publication in new window or tab >>Communication in Human-AI Interaction - CHAI (preface)
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2024 (English)In: CEUR Workshop Proceedings / [ed] Ericson P., Khairova N., De Vos M., CEUR-WS , 2024, Vol. 3825, p. 78-83Conference paper, Published paper (Refereed)
Abstract [en]

As Artificially Intelligent systems are becoming more and more present in our surroundings, our ways of interacting with them are also changing. From commercial chatbots to home assistants and robot companions, machines are progressively taking up the role of “communicators”, provided with their own agency, and able to interact with their human counterparts in new ways. This workshop aimed at gathering experts in fields relevant to the study of AI systems as communicators, including but not limited to Human-Computer Interaction, Artificial Intelligence, Human-Robot and Human-AI Interaction. It was organized in order to discuss new challenges brought by this recent shift, compare methods and perspectives between different fields, and foster long-term collaborations.

Place, publisher, year, edition, pages
CEUR-WS, 2024
Keywords
AI Communicators, Embodied AI, Human-AI Communication, Human-Centered Design, Multimodal Interaction, Adversarial machine learning, Human robot interaction, User centered design, AI communicator, AI systems, Chatbots, Computer interaction, Human-centred designs, In-field, Robot companion, Microrobots
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:oru:diva-118432 (URN)2-s2.0-85210321162 (Scopus ID)
Conference
3rd International Conference on Hybrid Human-Artificial Intelligence, HHAI-WS 2024, Malmo 10-11 June 2024
Available from: 2025-01-14 Created: 2025-01-14 Last updated: 2025-01-14Bibliographically approved
Sabu, K. M., Renoux, J. & Saffiotti, A. (2024). Deliberative Communication for Human-Agent Interaction: A Position Paper. In: HAI 2024 - Proceedings of the 12th International Conference on Human-Agent Interaction: . Paper presented at 12th International Conference on Human-Agent Interaction, HAI 2024, Swansea, November 24-27, 2024 (pp. 11-16). Association for Computing Machinery, Inc
Open this publication in new window or tab >>Deliberative Communication for Human-Agent Interaction: A Position Paper
2024 (English)In: HAI 2024 - Proceedings of the 12th International Conference on Human-Agent Interaction, Association for Computing Machinery, Inc , 2024, p. 11-16Conference paper, Published paper (Refereed)
Abstract [en]

In this position paper, we argue for the need for deliberation in communication for artificial agents that perform tasks together with humans. Existing works use a set of terms and concepts with different meanings, resulting in ambiguity which does not allow for a general framework. As an initial step towards such a framework, we propose the notion of deliberative communication, clarify the necessary concepts and terminology, highlight the capabilities required in using deliberation for agents that communicate with human users, and discuss the main challenges.

Place, publisher, year, edition, pages
Association for Computing Machinery, Inc, 2024
Keywords
Human-Robot Interaction, Human-Virtual Agent Interaction, Chatbots, Intelligent virtual agents, Microrobots, Agent interaction, Artificial agents, Human users, Human-agent interaction, Humans-robot interactions, Position papers, Virtual agent, Human robot interaction
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:oru:diva-119083 (URN)10.1145/3687272.3688299 (DOI)2-s2.0-85215510952 (Scopus ID)9798400708244 (ISBN)
Conference
12th International Conference on Human-Agent Interaction, HAI 2024, Swansea, November 24-27, 2024
Available from: 2025-02-04 Created: 2025-02-04 Last updated: 2025-02-04Bibliographically approved
Faridghasemnia, M., Renoux, J. & Saffiotti, A. (2024). Visual Noun Modifiers: The Problem of Binding Visual and Linguistic Cues. In: 2024 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, May 13-17, 2024 (pp. 11178-11185). Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>Visual Noun Modifiers: The Problem of Binding Visual and Linguistic Cues
2024 (English)In: 2024 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers Inc. , 2024, p. 11178-11185Conference paper, Published paper (Refereed)
Abstract [en]

In many robotic applications, especially those involving humans and the environment, linguistic and visual information must be processed jointly and bound together. Existing works either encode the image or the language into a subsymbolic space, like the CLIP model, or create a symbolic space of extracted information, like the object detection models. In this paper, we propose to describe images by nouns and modifiers and introduce a new embedded binding space where the linguistic and visual cues can effectively be bound. We investigate how state-of-the-art models perform in recognizing nouns and modifiers from images, and propose our method by introducing a dataset and CLIP-like recognition techniques based on transfer learning and metric learning. We show real-world experiments that demonstrate the practical applicability of our approach to robotics applications. Our results indicate that our method can surpass the state-of-the-art in recognizing nouns and modifiers from images. Interestingly, our method exhibits a language characteristic related to context sensitivity.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2024
Keywords
Adversarial machine learning, Contrastive Learning, Image coding, Object detection, Object recognition, Robot learning, Transfer learning, Visual languages, ART model, Detection models, Environment information, Linguistic information, Objects detection, Robotics applications, State of the art, Sub-symbolic, Visual cues, Visual information, Linguistics
National Category
Robotics and automation
Identifiers
urn:nbn:se:oru:diva-118593 (URN)10.1109/ICRA57147.2024.10611332 (DOI)2-s2.0-85202445079 (Scopus ID)9798350384574 (ISBN)
Conference
IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, May 13-17, 2024
Available from: 2025-01-16 Created: 2025-01-16 Last updated: 2025-01-16Bibliographically approved
Lobo, I., Koch, J., Renoux, J., Batina, I. & Prada, R. (2024). When Should I Lead or Follow?: Understanding Initiative Levels in Human-AI Collaborative Gameplay. In: Anna Vallgårda; Li Jönsson; Jonas Fritsch; Sarah Fdili Alaoui; Christopher A. Le Dantec (Ed.), DIS '24: Proceedings of the 2024 ACM Designing Interactive Systems Conference: . Paper presented at Proceedings of the 2024 ACM Designing Interactive Systems Conference, DIS 2024, Copenhagen, Denmark, 1-5 July, 2024. (pp. 2037-2056). ACM Digital Library
Open this publication in new window or tab >>When Should I Lead or Follow?: Understanding Initiative Levels in Human-AI Collaborative Gameplay
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2024 (English)In: DIS '24: Proceedings of the 2024 ACM Designing Interactive Systems Conference / [ed] Anna Vallgårda; Li Jönsson; Jonas Fritsch; Sarah Fdili Alaoui; Christopher A. Le Dantec, ACM Digital Library, 2024, p. 2037-2056Conference paper, Published paper (Refereed)
Abstract [en]

Dynamics in Human-AI interaction should lead to more satisfying and engaging collaboration. Key open questions are how to design such interactions and the role personal goals and expectations play. We developed three AI partners of varying initiative (leader, follower, shifting) in a collaborative game called Geometry Friends. We conducted a within-subjects experiment with 60 participants to assess personal AI partner preference and performance satisfaction as well as perceived warmth and competence of AI partners. Results show that AI partners following human initiative are perceived as warmer and more collaborative. However, some participants preferred AI leaders for their independence and speed, despite being seen as less friendly. This suggests that assigning a leadership role to the AI partner may be suitable for time-sensitive scenarios. We identify design factors for developing collaborative AI agents with varying levels of initiative to create more efective human-AI teams that consider context and individual preference.

Place, publisher, year, edition, pages
ACM Digital Library, 2024
Keywords
Collaboration Preference, Collaborative Game, Human-AI Collaboration, Initiative in AI Partners, Collaborative gameplay, Collaborative games, Design factors, Individual preference, Initiative in AI partner, Leader-follower, Performance, Subject experiment
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:oru:diva-118436 (URN)10.1145/3643834.3661583 (DOI)2-s2.0-85200369716 (Scopus ID)9798400705830 (ISBN)
Conference
Proceedings of the 2024 ACM Designing Interactive Systems Conference, DIS 2024, Copenhagen, Denmark, 1-5 July, 2024.
Available from: 2025-01-14 Created: 2025-01-14 Last updated: 2025-01-14Bibliographically approved
Veiga, T. & Renoux, J. (2023). From Reactive to Active Sensing: A Survey on Information Gathering in Decision-theoretic Planning. ACM Computing Surveys, 55(13S), Article ID 280.
Open this publication in new window or tab >>From Reactive to Active Sensing: A Survey on Information Gathering in Decision-theoretic Planning
2023 (English)In: ACM Computing Surveys, ISSN 0360-0300, E-ISSN 1557-7341, Vol. 55, no 13S, article id 280Article in journal (Refereed) Published
Abstract [en]

In traditional decision-theoretic planning, information gathering is a means to a goal. The agent receives information about its environment (state or observation) and uses it as a way to optimize a state-based reward function. Recent works, however, have focused on application domains in which information gathering is not only the mean but the goal itself. The agent must optimize its knowledge of the environment. However, traditional Markov-based decision-theoretic models cannot account for rewarding the agent based on its knowledge, which leads to the development of many approaches to overcome this limitation. We survey recent approaches for using decision-theoretic models in information-gathering scenarios, highlighting common practices and existing generic models, and show that existing methods can be categorized into three classes: reactive sensing, single-agent active sensing, and multi-agent active sensing. Finally, we highlight potential research gaps and suggest directions for future research.

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2023
Keywords
Decision-theoretic planning, information gathering, active sensing
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-109481 (URN)10.1145/3583068 (DOI)001056300600018 ()2-s2.0-85168797237 (Scopus ID)
Available from: 2023-10-31 Created: 2023-10-31 Last updated: 2023-10-31Bibliographically approved
Luperto, M., Monroy, J., Renoux, J., Lunardini, F., Basilico, N., Bulgheroni, M., . . . Borghese, N. A. (2023). Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project. International Journal of Social Robotics, 15(3), 517-545
Open this publication in new window or tab >>Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project
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2023 (English)In: International Journal of Social Robotics, ISSN 1875-4791, E-ISSN 1875-4805, Vol. 15, no 3, p. 517-545Article in journal (Refereed) Published
Abstract [en]

The integration of Ambient Assisted Living (AAL) frameworks with Socially Assistive Robots (SARs) has proven useful for monitoring and assisting older adults in their own home. However, the difficulties associated with long-term deployments in real-world complex environments are still highly under-explored. In this work, we first present the MoveCare system, an unobtrusive platform that, through the integration of a SAR into an AAL framework, aimed to monitor, assist and provide social, cognitive, and physical stimulation in the own houses of elders living alone and at risk of falling into frailty. We then focus on the evaluation and analysis of a long-term pilot campaign of more than 300 weeks of usages. We evaluated the system's acceptability and feasibility through various questionnaires and empirically assessed the impact of the presence of an assistive robot by deploying the system with and without it. Our results provide strong empirical evidence that Socially Assistive Robots integrated with monitoring and stimulation platforms can be successfully used for long-term support to older adults. We describe how the robot's presence significantly incentivised the use of the system, but slightly lowered the system's overall acceptability. Finally, we emphasise that real-world long-term deployment of SARs introduces a significant technical, organisational, and logistical overhead that should not be neglected nor underestimated in the pursuit of long-term robust systems. We hope that the findings and lessons learned from our work can bring value towards future long-term real-world and widespread use of SARs.

Place, publisher, year, edition, pages
Springer, 2023
Keywords
Ambient Assisted Living, IoT network, Monitoring, Socially assistive robots, Virtual communities
National Category
Computer Systems
Identifiers
urn:nbn:se:oru:diva-97653 (URN)10.1007/s12369-021-00843-0 (DOI)000754927900001 ()35194482 (PubMedID)2-s2.0-85124749539 (Scopus ID)
Note

Funding agency:

European Commission Joint Research Centre ICT-26-2016b-GA 732158

Correction:

DOI: 10.1007/s12369-022-00885-y

WOS: 000857896600001

Available from: 2022-02-24 Created: 2022-02-24 Last updated: 2023-12-08Bibliographically approved
Köckemann, U., Calisi, D., Gemignani, G., Renoux, J. & Saffiotti, A. (2023). Planning for Automated Testing of Implicit Constraints in Behavior Trees. In: Sven Koenig; Roni Stern; Mauro Vallati (Ed.), Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling: . Paper presented at 33rd International Conference on Automated Planning and Scheduling (ICAPS 2023), Prague, Czech Republic, July 8-13, 2023 (pp. 649-658). AAAI Press, 33
Open this publication in new window or tab >>Planning for Automated Testing of Implicit Constraints in Behavior Trees
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2023 (English)In: Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling / [ed] Sven Koenig; Roni Stern; Mauro Vallati, AAAI Press , 2023, Vol. 33, p. 649-658Conference paper, Published paper (Refereed)
Abstract [en]

Behavior Trees (BTs) are a formalism increasingly used to control the execution of robotic systems. The strength of BTs resides in their compact, hierarchical and transparent representation. However, when used in practical applications transparency is often hindered by the introduction of implicit run-time relations between nodes, e.g., because of data dependencies or hardware-related ordering constraints. Manually verifying the correctness of a BT with respect to these hidden relations is a tedious and error-prone task. This paper presents a modular planning-based approach for automatically testing BTs offline at design time, to identify possible executions that may violate given data and ordering constraints and to exhibit traces of these executions to help debugging. Our approach supports both basic and advanced BT node types, e.g., supporting parallel behaviors, and can be extended with other node types as needed. We evaluate our approach on BTs used in a commercially deployed robotics system and on a large set of randomly generated trees showing that our approach scales to realistic sizes of more than 3000 nodes. 

Place, publisher, year, edition, pages
AAAI Press, 2023
Series
Proceedings of the ... International Conference on Automated Planning and Scheduling, ISSN 2334-0835, E-ISSN 2334-0843 ; 33
Keywords
Automated Planning, Robotics, Behavior Trees
National Category
Computer and Information Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-112201 (URN)10.1609/icaps.v33i1.27247 (DOI)2-s2.0-85169788442 (Scopus ID)
Conference
33rd International Conference on Automated Planning and Scheduling (ICAPS 2023), Prague, Czech Republic, July 8-13, 2023
Projects
AIPlan4EU
Funder
European Commission, 101016442
Available from: 2024-03-07 Created: 2024-03-07 Last updated: 2024-06-03Bibliographically approved
Luperto, M., Monroy, J., Moreno, F.-A., Lunardini, F., Renoux, J., Krpic, A., . . . Borghese, N. A. (2023). Seeking at-home long-term autonomy of assistive mobile robots through the integration with an IoT-based monitoring system. Robotics and Autonomous Systems, 161, Article ID 104346.
Open this publication in new window or tab >>Seeking at-home long-term autonomy of assistive mobile robots through the integration with an IoT-based monitoring system
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2023 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 161, article id 104346Article in journal (Refereed) Published
Abstract [en]

In this paper, we propose a system that stems from the integration of an autonomous mobile robot with an IoT-based monitoring system to provide monitoring, assistance, and stimulation to older adults living alone in their own houses. The creation of an Internet of Robotics Things (IoRT) based on the interplay between pervasive smart objects and autonomous robotic systems is claimed to enable the creation of innovative services conceived for assisting the final user, especially in elderly care. The synergy between IoT and a Socially Assistive Robot (SAR) was conceived to offer robustness, reconfiguration, heterogeneity, and scalability, by bringing a strong added value to both the current SAR and IoT technologies. First, we propose a method to achieve the synergy and integration between the IoT system and the robot; then, we show how our method increases the performance and effectiveness of both to provide long-term support to the older adults. To do so, we present a case-study, where we focus on the detection of signs of the frailty syndrome, a set of vulnerabilities typically conveyed by a cognitive and physical decline in older people that concur in amplifying the risks of major diseases hindering the capabilities of independent living. Experimental evaluation is performed in both controlled settings and in a long-term real-world pilot study with 9 older adults in their own apartments, where the system was deployed autonomously for, on average, 12 weeks.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Socially assistive robots, IoT, Internet of robotic things
National Category
Computer graphics and computer vision
Identifiers
urn:nbn:se:oru:diva-105943 (URN)10.1016/j.robot.2022.104346 (DOI)000976331800001 ()2-s2.0-85145250829 (Scopus ID)
Funder
EU, Horizon 2020, CT-26-2016b- GA 732158
Note

Funding agency:

PON project SI-ROBOTICS - Italian government

Available from: 2023-05-15 Created: 2023-05-15 Last updated: 2025-02-07Bibliographically approved
Luperto, M., Romeo, M., Monroy, J., Renoux, J., Vuono, A., Moreno, F.-A., . . . Borghese, N. A. (2022). User feedback and remote supervision for assisted living with mobile robots: A field study in long-term autonomy. Robotics and Autonomous Systems, 155, Article ID 104170.
Open this publication in new window or tab >>User feedback and remote supervision for assisted living with mobile robots: A field study in long-term autonomy
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2022 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 155, article id 104170Article in journal (Refereed) Published
Abstract [en]

In an ageing society, the at-home use of Socially Assistive Robots (SARs) could provide remote monitoring of their users' well-being, together with physical and psychological support. However, private home environments are particularly challenging for SARs, due to their unstructured and dynamic nature which often contributes to robots' failures. For this reason, even though several prototypes of SARs for elderly care have been developed, their commercialisation and wide-spread at-home use are yet to be effective. In this paper, we analyse how including the end users' feedback impacts the SARs reliability and acceptance. To do so, we introduce a Monitoring and Logging System (MLS) for remote supervision, which increases the explainability of SAR-based systems deployed in older adults' apartments, while also allowing the exchange of feedback between caregivers, technicians, and older adults. We then present an extensive field study showing how long-term deployment of autonomous SARs can be accomplished by relying on such a feedback loop to address any potential issue. To this end, we provide the results obtained in a 130-week long study where autonomous SARs were deployed in the apartments of 10 older adults, with the aim of possibly serving and assisting future practitioners, with the knowledge collected from this extensive experimental campaign, to fill the gap that currently exists for the widespread adoption of SARs.

Place, publisher, year, edition, pages
Elsevier, 2022
Keywords
Socially Assistive Robots, Long-term autonomy, Field study
National Category
Computer graphics and computer vision
Identifiers
urn:nbn:se:oru:diva-100333 (URN)10.1016/j.robot.2022.104170 (DOI)000823233600002 ()2-s2.0-85132884165 (Scopus ID)
Funder
European Commission, ICT-26-2016b - GA 732158
Note

Funding agencies:

Italian PON project SI-Robotics

Project Essence SC1-PHE-CORONAVIRUS-2020-2B-GA 101016112

Available from: 2022-08-01 Created: 2022-08-01 Last updated: 2025-02-07Bibliographically approved
Renoux, J., Veiga, T. S., Lima, P. U. & Spaan, M. T. J. (2020). A Unified Decision-Theoretic Model for Information Gathering and Communication Planning. In: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN): . Paper presented at 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), (Virtual Conference), Naples, Italy, August 31 - September 4, 2020 (pp. 67-74). IEEE
Open this publication in new window or tab >>A Unified Decision-Theoretic Model for Information Gathering and Communication Planning
2020 (English)In: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), IEEE, 2020, p. 67-74Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of communication planning for human-machine cooperation in stochastic and partially observable environments. Partially Observable Markov Decision Processes with Information Rewards (POMDPs-IR) form a powerful framework for information-gathering tasks in such environments. We propose an extension of the POMDP-IR model, called a Communicating POMDP-IR (com-POMDP-IR), that allows an agent to proactively plan its communication actions by using an approximation of the human's beliefs. We experimentally demonstrate the capability of our com-POMDPIR agent to limit its communication to relevant information and its robustness to lost messages.

Place, publisher, year, edition, pages
IEEE, 2020
Series
IEEE International Workshop on Robot and Human Communication (ROMAN), ISSN 1944-9445, E-ISSN 1944-9437
National Category
Robotics and automation
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-88105 (URN)10.1109/RO-MAN47096.2020.9223597 (DOI)000598571700011 ()2-s2.0-85095738796 (Scopus ID)978-1-7281-6075-7 (ISBN)978-1-7281-6076-4 (ISBN)
Conference
29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), (Virtual Conference), Naples, Italy, August 31 - September 4, 2020
Note

Funding Agencies:

ERCIM "Alain Bensoussan" Fellowship  

European Union (EU)825619

Project LARSyS - FCT Project UIDB/50009/2020

Available from: 2020-12-16 Created: 2020-12-16 Last updated: 2025-02-09Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-2385-9470

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