Robotics seminars

Humans are natural teachers; learning through instruction is one of the most fundamental ways that we learn. Interactive Task Learning (ITL) is an emerging research agenda that studies the design of complex intelligent robots that can acquire new knowledge through natural human teacher-robot learner interactions. ITL methods are particularly useful for designing intelligent robots whose behavior can be adapted by humans collaborating with them. In this talk, I will summarize our recent findings on the structure that human instruction naturally has and motivate an intelligent system design that can exploit their structure. The system – AILEEN – is being developed using the common model of cognition. Architectures that implement the Common Model of Cognition - Soar, ACT-R, and Sigma - have a prominent place in research on cognitive modeling as well as on designing complex intelligent agents. However, they miss a critical piece of intelligent behavior – analogical reasoning and generalization. I will introduce a new memory – concept memory – that integrates with a common model of cognition architecture and supports ITL.

Socially Assistive Robots (SARs) have shown great potential to help children in therapeutic and healthcare contexts. SARs have been used for companionship, learning enhancement, social and communication skills rehabilitation for children with special needs (e.g., autism), and mood improvement. Robots can be used as novel tools to assess and rehabilitate children’s communication skills and mental well-being by providing affordable and accessible therapeutic and mental health services. In this talk, I will present the various studies I have conducted during my PhD and at the Cambridge Affective Intelligence and Robotics Lab to explore how robots can help assess and rehabilitate children’s communication skills and mental well-being. More specifically, I will provide both quantitative and qualitative results and findings from (i) an exploratory study with children with autism and global developmental disorders to investigate the use of intelligent personal assistants in therapy; (ii) an empirical study involving children with and without language disorders interacting with a physical robot, a virtual agent, and a human counterpart to assess their linguistic skills; (iii) an 8-week longitudinal study involving children with autism and language disorders who interacted either with a physical or a virtual robot to rehabilitate their linguistic skills; and (iv) an empirical study to aid the assessment of mental well-being in children. These findings can inform and help the child-robot interaction community design and develop new adaptive robots to help assess and rehabilitate linguistic skills and mental well-being in children.

It is common for animals to use self-generated movements to actively sense the surrounding environment. For instance, rodents rhythmically move their whiskers to explore the space close to their body. The mouse whisker system has become a standard model to study active sensing and sensorimotor integration through feedback loops. In this work, we developed a bioinspired spiking neural network model of the sensorimotor peripheral whisker system, modelling trigeminal ganglion, trigeminal nuclei, facial nuclei, and central pattern generator neuronal populations. This network was embedded in a virtual mouse robot, exploiting the Neurorobotics Platform, a simulation platform offering a virtual environment to develop and test robots driven by brain-inspired controllers. Eventually, the peripheral whisker system was properly connected to an adaptive cerebellar network controller. The whole system was able to drive active whisking with learning capability, matching neural correlates of behaviour experimentally recorded in mice.

Henrik I. Christensen examines the scientific and engineering challenges involved in building intelligent robots that assist people. Advances in materials, embedded systems, sensors and machine learning support new combinations of perception, planning and actuation. The lecture considers the models underlying robot perception, planning and control, and how these components must be integrated into useful systems. Applications include customized manufacturing, transportation, security, support for older people and people with disabilities, and safer work for first responders in dangerous environments. Christensen discusses major research trends and the potential influence of these systems on work, home and leisure.