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What You See Is (not) What You Get: A VR Framework For Correcting Robot Errors
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Robotik, perception och lärande, RPL.ORCID-id: 0000-0002-3432-6151
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Robotik, perception och lärande, RPL.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Robotik, perception och lärande, RPL.ORCID-id: 0000-0002-1170-7162
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Tal, musik och hörsel, TMH.ORCID-id: 0000-0003-2428-0468
Rekke forfattare: 42023 (engelsk)Inngår i: HRI 2023: Companion of the ACM/IEEE International Conference on Human-Robot Interaction, Association for Computing Machinery (ACM) , 2023, s. 243-247Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Many solutions tailored for intuitive visualization or teleoperation of virtual, augmented and mixed (VAM) reality systems are not robust to robot failures, such as the inability to detect and recognize objects in the environment or planning unsafe trajectories. In this paper, we present a novel virtual reality (VR) framework where users can (i) recognize when the robot has failed to detect a realworld object, (ii) correct the error in VR, (iii) modify proposed object trajectories and, (iv) implement behaviors on a real-world robot. Finally, we propose a user study aimed at testing the efficacy of our framework. Project materials can be found in the OSF repository1.

sted, utgiver, år, opplag, sider
Association for Computing Machinery (ACM) , 2023. s. 243-247
Emneord [en]
AR, human-robot interaction, perception, robotics, VR
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-333372DOI: 10.1145/3568294.3580081ISI: 001054975700044Scopus ID: 2-s2.0-85150432457OAI: oai:DiVA.org:kth-333372DiVA, id: diva2:1785069
Konferanse
18th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2023, Stockholm, Sweden, Mar 13 2023 - Mar 16 2023
Merknad

Part of ISBN 9781450399708

QC 20230801

Tilgjengelig fra: 2023-08-01 Laget: 2023-08-01 Sist oppdatert: 2023-10-16bibliografisk kontrollert

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Wozniak, Maciej K.Stower, RebeccaJensfelt, PatricAbelho Pereira, André Tiago

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