Historical buildings account for a significant portion of the energy use of today's building stock, and there are usually limited energy saving measures that can be applied due to antiquarian and esthetic restrictions. The purpose of this case study is to evaluate the use of the building structure of a historical stone building as a heating battery, i.e., to periodically store thermal energy in the building's structures without physically changing them. The stored heat is later utilized at times of, e.g., high heat demand, to reduce peaking as well as overall heat supply. With the help of Artificial Intelligence and Convolutional Neural Network Deep Learning Modelling, heat supply to the building is controlled by weather forecasting and a binary calendarization of occupancy for the optimization of energy use and power demand under sustained comfortable indoor temperatures. The study performed indicates substantial savings in total (by approximately 30%) and in peaking energy (by approximately 20% based on daily peak powers) in the studied building and suggests that the method can be applied to other, similar cases.

Retrieval of mental images from measured brain activity may facilitate communication, especially when verbal or muscular communication is impossible or inefficient. The existing work focuses mostly on retrieving the observed visual stimulus while our interest is on retrieving the imagined mental image. We present a closed-loop BCI framework to retrieve mental images of human faces. We utilize EEG signals as binary feedback to determine the relevance of an image to the target mental image. We employ the feedback to traverse the latent space of a generative model to propose new images closer to the actual target image. We evaluate the proposed framework on 13 volunteers. Unlike previous studies, we do not restrict the possible attributes of the resulting images to predefined semantic classes. Subjective and objective tests validate the ability of our model to retrieve face images similar to the actual target mental images.

The work presented here is a culmination of developments within the Swedish project COIN: Co-adaptive human-robot interactive systems, funded by the Swedish Foundation for Strategic Research (SSF), which addresses a unified framework for co-adaptive methodologies in human-robot co-existence. We investigate co-adaptation in the context of safe planning/control, trust, and multi-modal human-robot interactions, and present novel methods that allow humans and robots to adapt to one another and discuss directions for future work.

Brain Computer Interface (BCI) systems have the potential to provide a communication tool using non-invasive signals which can be applied to various fields including neuro-rehabilitation and entertainment. Interpreting multi-class movement intentions in a real time setting to control external devices such as robotic arms remains to be one of the main challenges in the BCI field. We propose a learning framework to decode upper limb movement intentions before and during the movement execution (ME) with the inclusion of motor imagery (MI) trials. The design of the framework allows the system to evaluate the uncertainty of the classification output and respond accordingly. The EEG signals collected during MI and ME trials are fed into a hybrid architecture consisting of Convolutional Neural Networks (CNN) and Long Short-Term Memory (LSTM) with limited pre-processing. Outcome of the proposed approach shows the potential to anticipate the intended movement direction before the onset of the movement, while waiting to reach a certainty level by potentially observing more EEG data from the beginning of the actual movement before sending control commands to the robot to avoid undesired outcomes. Presented results indicate that both the accuracy and the confidence level of the model improves with the introduction of MI trials right before the movement execution. Our results confirm the possibility of the proposed model to contribute to real-time and continuous decoding of movement directions for robotic applications.

Robots start to play a role in our social landscape, and they are progressively becoming responsive, both physically and socially. It begs the question of how humans react to and interact with robots in a coordinated manner and what the neural underpinnings of such behavior are. This exploratory study aims to understand the differences in human-human and human-robot interactions at a behavioral level and from a neurophysiological perspective. For this purpose, we adapted a collaborative dynamical paradigm from the literature. We asked 12 participants to hold two corners of a tablet while collaboratively guiding a ball around a circular track either with another participant or a robot. In irregular intervals, the ball was perturbed outward creating an artificial error in the behavior, which required corrective measures to return to the circular track again. Concurrently, we recorded electroencephalography (EEG). In the behavioral data, we found an increased velocity and positional error of the ball from the track in the human-human condition vs. human-robot condition. For the EEG data, we computed event-related potentials. We found a significant difference between human and robot partners driven by significant clusters at fronto-central electrodes. The amplitudes were stronger with a robot partner, suggesting a different neural processing. All in all, our exploratory study suggests that coordinating with robots affects action monitoring related processing. In the investigated paradigm, human participants treat errors during human-robot interaction differently from those made during interactions with other humans. These results can improve communication between humans and robot with the use of neural activity in real-time.

We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent to complete the task. The framework is learned end-to-end in an unsupervised fashion addressing the perception uncertainties and decision making in an integrated manner. The framework is shown to provide more time-efficient coordination between human and robot partners on an example task of packaging compared to alternatives for which perception and decision-making systems are learned independently, using supervised learning. Two important benefits of the proposed approach are that tedious annotation of motion data is avoided, and the learning is performed on-line.

Deep reinforcement learning (RL) has enabled training action-selection policies, end-to-end, by learning a function which maps image pixels to action outputs. However, it's application to visuomotor robotic policy training has been limited because of the challenge of large-scale data collection when working with physical hardware. A suitable visuomotor policy should perform well not just for the task-setup it has been trained for, but also for all varieties of the task, including novel objects at different viewpoints surrounded by task-irrelevant objects. However, it is impractical for a robotic setup to sufficiently collect interactive samples in a RL framework to generalize well to novel aspects of a task.In this work, we demonstrate that by using adversarial training for domain transfer, it is possible to train visuomotor policies based on RL frameworks, and then transfer the acquired policy to other novel task domains. We propose to leverage the deep RL capabilities to learn complex visuomotor skills for uncomplicated task setups, and then exploit transfer learning to generalize to new task domains provided only still images of the task in the target domain. We evaluate our method on two real robotic tasks, picking and pouring, and compare it to a number of prior works, demonstrating its superiority.

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner. They require the ability to predict and adapt to one's partner during an interaction. In this work we want to explore these ideas in a human-robot interaction setting in which a robot is required to learn interactive tasks from a combination of observational and kinesthetic learning. To this end, we propose a deep learning framework consisting of a number of components for (1) human and robot motion embedding, (2) motion prediction of the human partner, and (3) generation of robot joint trajectories matching the human motion. As long-term motion prediction methods often suffer from the problem of regression to the mean, our technical contribution here is a novel probabilistic latent variable model which does not predict in joint space but in latent space. To test the proposed method, we collect human-human interaction data and human-robot interaction data of four interactive tasks “hand-shake,” “hand-wave,” “parachute fist-bump,” and “rocket fist-bump.” We demonstrate experimentally the importance of predictive and adaptive components as well as low-level abstractions to successfully learn to imitate human behavior in interactive social tasks.

Modern reinforcement learning methods suffer from low sample efficiency and unsafe exploration, making it infeasible to train robotic policies entirely on real hardware. In this work, we propose to address the problem of sim-to-real domain transfer by using meta learning to train a policy that can adapt to a variety of dynamic conditions, and using a task-specific trajectory generation model to provide an action space that facilitates quick exploration. We evaluate the method by performing domain adaptation in simulation and analyzing the structure of the latent space during adaptation. We then deploy this policy on a KUKA LBR 4+ robot and evaluate its performance on a task of hitting a hockey puck to a target. Our method shows more consistent and stable domain adaptation than the baseline, resulting in better overall performance.