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- All Subjects: robotics
- Genre: Academic theses
Description
Linear Temporal Logic is gaining increasing popularity as a high level specification language for robot motion planning due to its expressive power and scalability of LTL control synthesis algorithms. This formalism, however, requires expert knowledge and makes it inaccessible to non-expert users. This thesis introduces a graphical specification environment to create high level motion plans to control robots in the field by converting a visual representation of the motion/task plan into a Linear Temporal Logic (LTL) specification. The visual interface is built on the Android tablet platform and provides functionality to create task plans through a set of well defined gestures and on screen controls. It uses the notion of waypoints to quickly and efficiently describe the motion plan and enables a variety of complex Linear Temporal Logic specifications to be described succinctly and intuitively by the user without the need for the knowledge and understanding of LTL specification. Thus, it opens avenues for its use by personnel in military, warehouse management, and search and rescue missions. This thesis describes the construction of LTL for various scenarios used for robot navigation using the visual interface developed and leverages the use of existing LTL based motion planners to carry out the task plan by a robot.
ContributorsSrinivas, Shashank (Author) / Fainekos, Georgios (Thesis advisor) / Baral, Chitta (Committee member) / Burleson, Winslow (Committee member) / Arizona State University (Publisher)
Created2013
Description
As robotic technology and its various uses grow steadily more complex and ubiquitous, humans are coming into increasing contact with robotic agents. A large portion of such contact is cooperative interaction, where both humans and robots are required to work on the same application towards achieving common goals. These application scenarios are characterized by a need to leverage the strengths of each agent as part of a unified team to reach those common goals. To ensure that the robotic agent is truly a contributing team-member, it must exhibit some degree of autonomy in achieving goals that have been delegated to it. Indeed, a significant portion of the utility of such human-robot teams derives from the delegation of goals to the robot, and autonomy on the part of the robot in achieving those goals. In order to be considered truly autonomous, the robot must be able to make its own plans to achieve the goals assigned to it, with only minimal direction and assistance from the human.
Automated planning provides the solution to this problem -- indeed, one of the main motivations that underpinned the beginnings of the field of automated planning was to provide planning support for Shakey the robot with the STRIPS system. For long, however, automated planners suffered from scalability issues that precluded their application to real world, real time robotic systems. Recent decades have seen a gradual abeyance of those issues, and fast planning systems are now the norm rather than the exception. However, some of these advances in speedup and scalability have been achieved by ignoring or abstracting out challenges that real world integrated robotic systems must confront.
In this work, the problem of planning for human-hobot teaming is introduced. The central idea -- the use of automated planning systems as mediators in such human-robot teaming scenarios -- and the main challenges inspired from real world scenarios that must be addressed in order to make such planning seamless are presented: (i) Goals which can be specified or changed at execution time, after the planning process has completed; (ii) Worlds and scenarios where the state changes dynamically while a previous plan is executing; (iii) Models that are incomplete and can be changed during execution; and (iv) Information about the human agent's plan and intentions that can be used for coordination. These challenges are compounded by the fact that the human-robot team must execute in an open world, rife with dynamic events and other agents; and in a manner that encourages the exchange of information between the human and the robot. As an answer to these challenges, implemented solutions and a fielded prototype that combines all of those solutions into one planning system are discussed. Results from running this prototype in real world scenarios are presented, and extensions to some of the solutions are offered as appropriate.
Automated planning provides the solution to this problem -- indeed, one of the main motivations that underpinned the beginnings of the field of automated planning was to provide planning support for Shakey the robot with the STRIPS system. For long, however, automated planners suffered from scalability issues that precluded their application to real world, real time robotic systems. Recent decades have seen a gradual abeyance of those issues, and fast planning systems are now the norm rather than the exception. However, some of these advances in speedup and scalability have been achieved by ignoring or abstracting out challenges that real world integrated robotic systems must confront.
In this work, the problem of planning for human-hobot teaming is introduced. The central idea -- the use of automated planning systems as mediators in such human-robot teaming scenarios -- and the main challenges inspired from real world scenarios that must be addressed in order to make such planning seamless are presented: (i) Goals which can be specified or changed at execution time, after the planning process has completed; (ii) Worlds and scenarios where the state changes dynamically while a previous plan is executing; (iii) Models that are incomplete and can be changed during execution; and (iv) Information about the human agent's plan and intentions that can be used for coordination. These challenges are compounded by the fact that the human-robot team must execute in an open world, rife with dynamic events and other agents; and in a manner that encourages the exchange of information between the human and the robot. As an answer to these challenges, implemented solutions and a fielded prototype that combines all of those solutions into one planning system are discussed. Results from running this prototype in real world scenarios are presented, and extensions to some of the solutions are offered as appropriate.
ContributorsTalamadupula, Kartik (Author) / Kambhampati, Subbarao (Thesis advisor) / Baral, Chitta (Committee member) / Liu, Huan (Committee member) / Scheutz, Matthias (Committee member) / Smith, David E. (Committee member) / Arizona State University (Publisher)
Created2014
Description
Social media refers computer-based technology that allows the sharing of information and building the virtual networks and communities. With the development of internet based services and applications, user can engage with social media via computer and smart mobile devices. In recent years, social media has taken the form of different activities such as social network, business network, text sharing, photo sharing, blogging, etc. With the increasing popularity of social media, it has accumulated a large amount of data which enables understanding the human behavior possible. Compared with traditional survey based methods, the analysis of social media provides us a golden opportunity to understand individuals at scale and in turn allows us to design better services that can tailor to individuals’ needs. From this perspective, we can view social media as sensors, which provides online signals from a virtual world that has no geographical boundaries for the real world individual's activity.
One of the key features for social media is social, where social media users actively interact to each via generating content and expressing the opinions, such as post and comment in Facebook. As a result, sentiment analysis, which refers a computational model to identify, extract or characterize subjective information expressed in a given piece of text, has successfully employs user signals and brings many real world applications in different domains such as e-commerce, politics, marketing, etc. The goal of sentiment analysis is to classify a user’s attitude towards various topics into positive, negative or neutral categories based on textual data in social media. However, recently, there is an increasing number of people start to use photos to express their daily life on social media platforms like Flickr and Instagram. Therefore, analyzing the sentiment from visual data is poise to have great improvement for user understanding.
In this dissertation, I study the problem of understanding human sentiments from large scale collection of social images based on both image features and contextual social network features. We show that neither
visual features nor the textual features are by themselves sufficient for accurate sentiment prediction. Therefore, we provide a way of using both of them, and formulate sentiment prediction problem in two scenarios: supervised and unsupervised. We first show that the proposed framework has flexibility to incorporate multiple modalities of information and has the capability to learn from heterogeneous features jointly with sufficient training data. Secondly, we observe that negative sentiment may related to human mental health issues. Based on this observation, we aim to understand the negative social media posts, especially the post related to depression e.g., self-harm content. Our analysis, the first of its kind, reveals a number of important findings. Thirdly, we extend the proposed sentiment prediction task to a general multi-label visual recognition task to demonstrate the methodology flexibility behind our sentiment analysis model.
One of the key features for social media is social, where social media users actively interact to each via generating content and expressing the opinions, such as post and comment in Facebook. As a result, sentiment analysis, which refers a computational model to identify, extract or characterize subjective information expressed in a given piece of text, has successfully employs user signals and brings many real world applications in different domains such as e-commerce, politics, marketing, etc. The goal of sentiment analysis is to classify a user’s attitude towards various topics into positive, negative or neutral categories based on textual data in social media. However, recently, there is an increasing number of people start to use photos to express their daily life on social media platforms like Flickr and Instagram. Therefore, analyzing the sentiment from visual data is poise to have great improvement for user understanding.
In this dissertation, I study the problem of understanding human sentiments from large scale collection of social images based on both image features and contextual social network features. We show that neither
visual features nor the textual features are by themselves sufficient for accurate sentiment prediction. Therefore, we provide a way of using both of them, and formulate sentiment prediction problem in two scenarios: supervised and unsupervised. We first show that the proposed framework has flexibility to incorporate multiple modalities of information and has the capability to learn from heterogeneous features jointly with sufficient training data. Secondly, we observe that negative sentiment may related to human mental health issues. Based on this observation, we aim to understand the negative social media posts, especially the post related to depression e.g., self-harm content. Our analysis, the first of its kind, reveals a number of important findings. Thirdly, we extend the proposed sentiment prediction task to a general multi-label visual recognition task to demonstrate the methodology flexibility behind our sentiment analysis model.
ContributorsWang, Yilin (Author) / Li, Baoxin (Thesis advisor) / Liu, Huan (Committee member) / Tong, Hanghang (Committee member) / Chang, Yi (Committee member) / Arizona State University (Publisher)
Created2018
Description
Due to vast resources brought by social media services, social data mining has
received increasing attention in recent years. The availability of sheer amounts of
user-generated data presents data scientists both opportunities and challenges. Opportunities are presented with additional data sources. The abundant link information
in social networks could provide another rich source in deriving implicit information
for social data mining. However, the vast majority of existing studies overwhelmingly
focus on positive links between users while negative links are also prevailing in real-
world social networks such as distrust relations in Epinions and foe links in Slashdot.
Though recent studies show that negative links have some added value over positive
links, it is dicult to directly employ them because of its distinct characteristics from
positive interactions. Another challenge is that label information is rather limited
in social media as the labeling process requires human attention and may be very
expensive. Hence, alternative criteria are needed to guide the learning process for
many tasks such as feature selection and sentiment analysis.
To address above-mentioned issues, I study two novel problems for signed social
networks mining, (1) unsupervised feature selection in signed social networks; and
(2) unsupervised sentiment analysis with signed social networks. To tackle the first problem, I propose a novel unsupervised feature selection framework SignedFS. In
particular, I model positive and negative links simultaneously for user preference
learning, and then embed the user preference learning into feature selection. To study the second problem, I incorporate explicit sentiment signals in textual terms and
implicit sentiment signals from signed social networks into a coherent model Signed-
Senti. Empirical experiments on real-world datasets corroborate the effectiveness of
these two frameworks on the tasks of feature selection and sentiment analysis.
received increasing attention in recent years. The availability of sheer amounts of
user-generated data presents data scientists both opportunities and challenges. Opportunities are presented with additional data sources. The abundant link information
in social networks could provide another rich source in deriving implicit information
for social data mining. However, the vast majority of existing studies overwhelmingly
focus on positive links between users while negative links are also prevailing in real-
world social networks such as distrust relations in Epinions and foe links in Slashdot.
Though recent studies show that negative links have some added value over positive
links, it is dicult to directly employ them because of its distinct characteristics from
positive interactions. Another challenge is that label information is rather limited
in social media as the labeling process requires human attention and may be very
expensive. Hence, alternative criteria are needed to guide the learning process for
many tasks such as feature selection and sentiment analysis.
To address above-mentioned issues, I study two novel problems for signed social
networks mining, (1) unsupervised feature selection in signed social networks; and
(2) unsupervised sentiment analysis with signed social networks. To tackle the first problem, I propose a novel unsupervised feature selection framework SignedFS. In
particular, I model positive and negative links simultaneously for user preference
learning, and then embed the user preference learning into feature selection. To study the second problem, I incorporate explicit sentiment signals in textual terms and
implicit sentiment signals from signed social networks into a coherent model Signed-
Senti. Empirical experiments on real-world datasets corroborate the effectiveness of
these two frameworks on the tasks of feature selection and sentiment analysis.
ContributorsCheng, Kewei (Author) / Liu, Huan (Thesis advisor) / Tong, Hanghang (Committee member) / Baral, Chitta (Committee member) / Arizona State University (Publisher)
Created2017
Description
Goal specification is an important aspect of designing autonomous agents. A goal does not only refer to the set of states for the agent to reach. A goal also defines restrictions on the paths the agent should follow. Temporal logics are widely used in goal specification. However, they lack the ability to represent goals in a non-deterministic domain, goals that change non-monotonically, and goals with preferences. This dissertation defines new goal specification languages by extending temporal logics to address these issues. First considered is the goal specification in non-deterministic domains, in which an agent following a policy leads to a set of paths. A logic is proposed to distinguish paths of the agent from all paths in the domain. In addition, to address the need of comparing policies for finding the best ones, a language capable of quantifying over policies is proposed. As policy structures of agents play an important role in goal specification, languages are also defined by considering different policy structures. Besides, after an agent is given an initial goal, the agent may change its expectations or the domain may change, thus goals that are previously specified may need to be further updated, revised, partially retracted, or even completely changed. Non-monotonic goal specification languages that can make these changes in an elaboration tolerant manner are needed. Two languages that rely on labeling sub-formulas and connecting multiple rules are developed to address non-monotonicity in goal specification. Also, agents may have preferential relations among sub-goals, and the preferential relations may change as agents achieve other sub-goals. By nesting a comparison operator with other temporal operators, a language with dynamic preferences is proposed. Various goals that cannot be expressed in other languages are expressed in the proposed languages. Finally, plans are given for some goals specified in the proposed languages.
ContributorsZhao, Jicheng (Author) / Baral, Chitta (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Lee, Joohyung (Committee member) / Lifschitz, Vladimir (Committee member) / Liu, Huan (Committee member) / Arizona State University (Publisher)
Created2010
Description
Enabling robots to physically engage with their environment in a safe and efficient manner is an essential step towards human-robot interaction. To date, robots usually operate as pre-programmed workers that blindly execute tasks in highly structured environments crafted by skilled engineers. Changing the robots’ behavior to cover new duties or handle variability is an expensive, complex, and time-consuming process. However, with the advent of more complex sensors and algorithms, overcoming these limitations becomes within reach. This work proposes innovations in artificial intelligence, language understanding, and multimodal integration to enable next-generation grasping and manipulation capabilities in autonomous robots. The underlying thesis is that multimodal observations and instructions can drastically expand the responsiveness and dexterity of robot manipulators. Natural language, in particular, can be used to enable intuitive, bidirectional communication between a human user and the machine. To this end, this work presents a system that learns context-aware robot control policies from multimodal human demonstrations. Among the main contributions presented are techniques for (a) collecting demonstrations in an efficient and intuitive fashion, (b) methods for leveraging physical contact with the environment and objects, (c) the incorporation of natural language to understand context, and (d) the generation of robust robot control policies. The presented approach and systems are evaluated in multiple grasping and manipulation settings ranging from dexterous manipulation to pick-and-place, as well as contact-rich bimanual insertion tasks. Moreover, the usability of these innovations, especially when utilizing human task demonstrations and communication interfaces, is evaluated in several human-subject studies.
ContributorsStepputtis, Simon (Author) / Ben Amor, Heni (Thesis advisor) / Baral, Chitta (Committee member) / Yang, Yezhou (Committee member) / Lee, Stefan (Committee member) / Arizona State University (Publisher)
Created2021
Description
As robots become mechanically more capable, they are going to be more and more integrated into our daily lives. Over time, human’s expectation of what the robot capabilities are is getting higher. Therefore, it can be conjectured that often robots will not act as human commanders intended them to do. That is, the users of the robots may have a different point of view from the one the robots do.
The first part of this dissertation covers methods that resolve some instances of this mismatch when the mission requirements are expressed in Linear Temporal Logic (LTL) for handling coverage, sequencing, conditions and avoidance. That is, the following general questions are addressed:
* What cause of the given mission is unrealizable?
* Is there any other feasible mission that is close to the given one?
In order to answer these questions, the LTL Revision Problem is applied and it is formulated as a graph search problem. It is shown that in general the problem is NP-Complete. Hence, it is proved that the heuristic algorihtm has 2-approximation bound in some cases. This problem, then, is extended to two different versions: one is for the weighted transition system and another is for the specification under quantitative preference. Next, a follow up question is addressed:
* How can an LTL specified mission be scaled up to multiple robots operating in confined environments?
The Cooperative Multi-agent Planning Problem is addressed by borrowing a technique from cooperative pathfinding problems in discrete grid environments. Since centralized planning for multi-robot systems is computationally challenging and easily results in state space explosion, a distributed planning approach is provided through agent coupling and de-coupling.
In addition, in order to make such robot missions work in the real world, robots should take actions in the continuous physical world. Hence, in the second part of this thesis, the resulting motion planning problems is addressed for non-holonomic robots.
That is, it is devoted to autonomous vehicles’ motion planning in challenging environments such as rural, semi-structured roads. This planning problem is solved with an on-the-fly hierarchical approach, using a pre-computed lattice planner. It is also proved that the proposed algorithm guarantees resolution-completeness in such demanding environments. Finally, possible extensions are discussed.
The first part of this dissertation covers methods that resolve some instances of this mismatch when the mission requirements are expressed in Linear Temporal Logic (LTL) for handling coverage, sequencing, conditions and avoidance. That is, the following general questions are addressed:
* What cause of the given mission is unrealizable?
* Is there any other feasible mission that is close to the given one?
In order to answer these questions, the LTL Revision Problem is applied and it is formulated as a graph search problem. It is shown that in general the problem is NP-Complete. Hence, it is proved that the heuristic algorihtm has 2-approximation bound in some cases. This problem, then, is extended to two different versions: one is for the weighted transition system and another is for the specification under quantitative preference. Next, a follow up question is addressed:
* How can an LTL specified mission be scaled up to multiple robots operating in confined environments?
The Cooperative Multi-agent Planning Problem is addressed by borrowing a technique from cooperative pathfinding problems in discrete grid environments. Since centralized planning for multi-robot systems is computationally challenging and easily results in state space explosion, a distributed planning approach is provided through agent coupling and de-coupling.
In addition, in order to make such robot missions work in the real world, robots should take actions in the continuous physical world. Hence, in the second part of this thesis, the resulting motion planning problems is addressed for non-holonomic robots.
That is, it is devoted to autonomous vehicles’ motion planning in challenging environments such as rural, semi-structured roads. This planning problem is solved with an on-the-fly hierarchical approach, using a pre-computed lattice planner. It is also proved that the proposed algorithm guarantees resolution-completeness in such demanding environments. Finally, possible extensions are discussed.
ContributorsKim, Kangjin (Author) / Fainekos, Georgios (Thesis advisor) / Baral, Chitta (Committee member) / Lee, Joohyung (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2019
Description
Self-Driving cars are a long-lasting ambition for many AI scientists and engineers. In the last decade alone, many self-driving cars like Google Waymo, Tesla Autopilot, Uber, etc. have been roaming the streets of many cities. As a rapidly expanding field, researchers all over the world are attempting to develop more safe and efficient AI agents that can navigate through our cities. However, driving is a very complex task to master even for a human, let alone the challenges in developing robots to do the same. It requires attention and inputs from the surroundings of the car, and it is nearly impossible for us to program all the possible factors affecting this complex task. As a solution, imitation learning was introduced, wherein the agents learn a policy, mapping the observations to the actions through demonstrations given by humans. Through imitation learning, one could easily teach self-driving cars the expected behavior in many scenarios. Despite their autonomous nature, it is undeniable that humans play a vital role in the development and execution of safe and trustworthy self-driving cars and hence form the strongest link in this application of Human-Robot Interaction. Several approaches were taken to incorporate this link between humans and self-driving cars, one of which involves the communication of human's navigational instruction to self-driving cars. The communicative channel provides humans with control over the agent’s decisions as well as the ability to guide them in real-time. In this work, the abilities of imitation learning in creating a self-driving agent that can follow natural language instructions given by humans based on environmental objects’ descriptions were explored. The proposed model architecture is capable of handling latent temporal context in these instructions thus making the agent capable of taking multiple decisions along its course. The work shows promising results that push the boundaries of natural language instructions and their complexities in navigating self-driving cars through towns.
ContributorsMoudhgalya, Nithish B (Author) / Amor, Hani Ben (Thesis advisor) / Baral, Chitta (Committee member) / Yang, Yezhou (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2021