An Attention Transfer Model for Human-Assisted Failure Avoidance in Robot Manipulations

摘要

Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and correct abnormal robot executions at an early stage. However, due to limited reasoning capability and knowledge storage, it is challenging for robots to self-diagnose and -correct their own abnormality in both planning and executing. To improve robot self diagnosis capability, in this research a novel human-to-robot attention transfer (\textit{\textbf{H2R-AT}}) method was developed to identify robot manipulation errors by leveraging human instructions. \textit{\textbf{H2R-AT}} was developed by fusing attention mapping mechanism into a novel stacked neural networks model, transferring human verbal attention into robot visual attention. With the attention transfer, a robot understands \textit{what} and \textit{where} human concerns are to identify and correct abnormal manipulations. Two representative task scenarios: ``serve water for a human in a kitchen" and ``pick up a defective gear in a factory" were designed in a simulation framework CRAIhri with abnormal robot manipulations; and $252$ volunteers were recruited to provide about 12000 verbal reminders to learn and test \textit{\textbf{H2R-AT}}. The method effectiveness was validated by the high accuracy of $73.68\%$ in transferring attention, and the high accuracy of $66.86\%$ in avoiding grasping failures.