Maya Cakmak
Leila Takayama
ABSTRACT
Allowing end-users to harness the full capability of general purpose robots, requires giving them powerful tools. As the functionality of these tools increase, learning how to use them becomes more challenging. In this paper we investigate the use of instructional materials to support the learnability of a Programming by Demonstration tool. We develop a system that allows users to program complex manipulation skills on a two-armed robot through a spoken dialog interface and by physically moving the robot's arms. We present a user study (N=30) in which participants are left alone with the robot and a user manual, without any prior instructions on how to program the robot. Instead, they are asked to figure it out on their own. We investigate the effect of providing users with an additional written tutorial or an instructional video. We find that videos are most effective in training the user; however, this effect might be superficial and ultimately trial-and-error plays an important role in learning to program the robot. We also find that tutorials can be problematic when the interaction has uncertainty due to speech recognition errors. Overall, the user study demonstrates the effectiveness and learnability of the our system, while providing useful feedback about the dialog design.
- S. Ainsworth. Deft: A conceptual framework for considering learning with multiple representations. Learning and Instruction, 16(3):183--198, 2006.Google Scholar
Cross Ref
- B. Akgun, M. Cakmak, K. Jiang, and A. Thomaz. Keyframe-based learning from demonstration. Journal of Social Robotics, Special issue on LfD, 4(4), 2012.Google Scholar
- A. Bandura. Social Learning Theory. General Learning Corporation, 1971.Google Scholar
- A. Billard, S. Calinon, R. Dillmann, and S. Schaal. Robot programming by demonstration. In B. Siciliano and O. Khatib, editors, Handbook of Robotics. Springer, 2007.Google Scholar
- M. Cakmak and A. L. Thomaz. Designing robot learners that ask good questions. In Proc. of the Intl. Conf. on Human-Robot Interaction (HRI), 2012. Google ScholarDigital Library
- L. Dybkjær and N. O. Bernsen. Usability issues in spoken dialogue systems. Natural Language Engineering, 6(3&4):243--271, 2000. Google ScholarDigital Library
- K. Fischer. How people talk with robots: Designing dialog to reduce user uncertainty. AI Magazine, 32(4):31--38, 2011.Google ScholarDigital Library
- M. E. Foster, M. Giuliani, A. Isard, C. Matheson, J. Oberlander, and A. Knoll. Evaluating description and reference strategies in a cooperative human-robot dialogue system. In IJCAI, pages 1818--1823, 2009. Google ScholarDigital Library
- J. Gustafson, A. Larsson, R. Carlson, and K. Hellman. How do system questions influence lexical choices in user answers? In EUROSPEECH, 1997.Google Scholar
- C. A. Kamm, D. J. Litman, and M. A. Walker. From novice to expert: the effect of tutorials on user expertise with spoken dialogue systems. In ICSLP, 1998.Google Scholar
- D. E. Kieras and S. Bovair. The role of a mental model in learning to operate a device. Cognitive science, 8(3):255--273, 1984.Google ScholarCross Ref
- N. Koenig, L. Takayama, and M. Matarić. Communication and knowledge sharing in human-robot interaction and learning from demonstration. Neural Networks, 23(8), 2010. Google ScholarDigital Library
- H. Nguyen, M. Ciocarlie, and K. Hsiao. Ros commander (rosco): Behavior creation for home robots. In IEEE Intl. Conference on Robotics and Automation, 2013.Google ScholarCross Ref
- S. Niekum, S. Osentoski, S. Chitta, B. Marthi, and A. Barto. Incremental semantically grounded learning from demonstration. In Robotics: Science and Systems, 2013.Google Scholar
- N. Otero, A. Alissandrakis, K. Dautenhahn, C. Nehaniv, D. Syrdal, and K. Koay. Human to robot demonstrations of routine home tasks: Exploring the role of the robot's feedback. In Proc. of the Intl. Conf. on Human-Robot Interaction (HRI), 2008. Google ScholarDigital Library
- J. Pearson, J. Hu, H. P. Branigan, M. J. Pickering, and C. I. Nass. Adaptive language behavior in hci: how expectations and beliefs about a system affect users' word choice. In Proc. of the SIGCHI conference on Human Factors in computing systems, 2006. Google ScholarDigital Library
- R. C. Schank, T. R. Berman, and K. A. Macpherson. Learning by doing. In C. M. Reigeluth, editor, Instructional-Design Theories and Models. LEA, 1999.Google Scholar
- J. Schulman, A. Gupta, S. Venkatesan, M. Tayson-Frederick, and P. Abbeel. A case study of trajectory transfer through non-rigid registration for a simplified suturing scenario. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2013.Google ScholarCross Ref
- H. Suay, R. Toris, and S. Chernova. A practical comparison of three robot learning from demonstration algorithms. Intl. Journal of Social Robotics, special issue on LfD, 4(4), 2012.Google Scholar
- J. J. Van Merriënboer, P. A. Kirschner, and L. Kester. Taking the load off a learner's mind: Instructional design for complex learning. Educational psychologist, 38(1):5--13, 2003.Google ScholarCross Ref
- A. Weiss, J. Igelsboeck, S. Calinon, A. Billard, and M. Tscheligi. Teaching a humanoid: A user study on learning by demonstration with hoap-3. In IEEE RO-MAN, pages 147--152, 2009.Google ScholarCross Ref
Index Terms
- Teaching people how to teach robots: the effect of instructional materials and dialog design
Recommendations
Implementation of advanced manipulation tasks on humanoids through kinesthetic teaching
PETRA '14: Proceedings of the 7th International Conference on PErvasive Technologies Related to Assistive EnvironmentsIn this paper, we describe a software framework for programming by demonstration (PbD) using kinesthetic teaching. A Personal Robot 2 (PR2) robot platform was used to demonstrate teaching effectiveness and conduct dual arm manipulation operations during ...
Interactive Teaching for Vision-Based Mobile Robots: A Sensory-Motor Approach
For the last decade, we have been developing a vision-based architecture for mobile robot navigation. Using our bio-inspired model of navigation, robots can perform sensory-motor tasks in real time in unknown indoor as well as outdoor environments. We ...
Incremental learning of gestures by imitation in a humanoid robot
HRI '07: Proceedings of the ACM/IEEE international conference on Human-robot interactionWe present an approach to teach incrementally human gestures to a humanoid robot. By using active teaching methods that puts the human teacher "in the loop" of the robot's learning, we show that the essential characteristics of a gesture can be ...
Comments