Papers by Séverin Lemaignan
One thesis, two places, Three robots and four years, Rachid and Michael sailing forward On the me... more One thesis, two places, Three robots and four years, Rachid and Michael sailing forward On the merry-go-rounds of robotics. Bears and bards, all the troupe of PhD students, A wife and a daughter, a life and some science, The rose city and all these friends Who tile the world with colours,
Abstract The topic of reusable software in robotics is now largely addressed. Components based ar... more Abstract The topic of reusable software in robotics is now largely addressed. Components based architectures, where components are independent units that can be reused accross applications, have become more popular. As a consequence, a long list of middlewares and integration tools is available in the community, often in the form of open-source projects. However, these projects are generally self contained with little reuse between them.
Abstract In human-robot interaction, a robot must be prepared to handle possible ambiguities gene... more Abstract In human-robot interaction, a robot must be prepared to handle possible ambiguities generated by a human partner. In this work we propose a set of strategies that allow a robot to identify the referent when the human partner refers to an object giving incomplete information, ie an ambiguous description. Moreover, we propose the use of an ontology to store and reason on the robot's knowledge to ease clarification, and therefore, improve interaction.
Abstract—The video presents in a didactic way several abilities and algorithms required to achiev... more Abstract—The video presents in a didactic way several abilities and algorithms required to achieve interactive “pick and give” tasks in a human environment. Communication between the human and the robot relies on unconstrained verbal dialogue, the robot uses multi-modal perception to track the human and its environment, and implements real-time 3D motion planning algorithms to achieve collision-free and human-aware interactive manipulation.
Abstract SqueakBot is a teaching robotic platform, usable by young people making it possible for ... more Abstract SqueakBot is a teaching robotic platform, usable by young people making it possible for them to control and simulate various devices like robots. The long-term goals of the project are on the one hand to have a software architecture being able to be embedded in small size hardware devices (with limited resources in memory and computation) and on the other hand to mix in the same platform, virtual devices simulated on a computer and physical devices available in the environment. We present here a first report of this project.
Abstract—The video presents in a didactic way the tools developed at LAAS-CNRS and related to sym... more Abstract—The video presents in a didactic way the tools developed at LAAS-CNRS and related to symbol grounding and natural language processing for companion robots (Fig. 1). It mainly focuses on two of them: the ORO-server knowledge base and the Dialogs natural language processor.
Abstract—We have designed and implemented new spatiotemporal reasoning skills for a cognitive rob... more Abstract—We have designed and implemented new spatiotemporal reasoning skills for a cognitive robot, which explicitly reasons about human beliefs on object positions. It enables the robot to build symbolic models reflecting each agent's perspective on the world. Using these models, the robot has a better understanding of what humans say and do, and is able to reason on what human should know to achieve a given goal. These new capabilities are also demonstrated experimentally.
Abstract Over the last two years, the Modular OpenRobots Simulation Engine (MORSE) project 1 went... more Abstract Over the last two years, the Modular OpenRobots Simulation Engine (MORSE) project 1 went from a simple extension plugged on the Blender's Game Engine to a full-fledged simulation environment for academic robotics. Driven by the requirements of several of its developers, tools dedicated to Human-Robot interaction simulation have taken a prominent place in the project.
Abstract While key for human-robot interaction, natural language interpretation is a notoriously ... more Abstract While key for human-robot interaction, natural language interpretation is a notoriously difficult task, especially because the interaction context is at the same time essential for dialogue understanding, difficult to build for machines, and depends on each speaker point of view. However, robots as embodied artifacts, can perceive their environment and interactors, and hence compute symbolic models from various perspectives. This allows in turn to build symbolic contexts for dialogues.
Abstract Robots should be capable of interacting in a cooperative and adaptive manner with their ... more Abstract Robots should be capable of interacting in a cooperative and adaptive manner with their human counterparts in open-ended tasks that can change in real-time. An important aspect of the robot behavior will be the ability to acquire new knowledge of the cooperative tasks by observing and interacting with humans. The current research addresses this challenge.
Theatre with robotic actors is an emerging field, with a few previous published results [1, 2, 3]... more Theatre with robotic actors is an emerging field, with a few previous published results [1, 2, 3]. On the 14th of October 2011, we performed for a general public audience (over 300 persons) a 18 min long live theatre play, acted by professional actor Xavier Brossard and the LAAS/CNRS PR2 robot. The play was created and directed by Nicolas Darrot, a mixed-media artist from Paris.
MORSE is a robotic simulation software developed by roboticists from several research laboratorie... more MORSE is a robotic simulation software developed by roboticists from several research laboratories. It is a framework to evaluate robotic algorithms and their integration in complex environments, modeled with the Blender 3D real-time engine which brings realistic rendering and physics simulation. The simulations can be specified at various levels of abstraction. This enables researchers to focus on their field of interest, that can range from processing low-level sensor data to the integration of a complete team of robots.
Abstract Trying to provide safer and more efficient transportation solutions, the need for reliab... more Abstract Trying to provide safer and more efficient transportation solutions, the need for reliable and efficient communications is increasing in ITS (Intelligent Transportation Systems) use cases such as collaborative road data collection, driver information systems, infotainment or fully driverless vehicles. Applications that rely on vehicle-infrastructure (V2I) and vehicle-vehicle (V2V) communications have different requirements and would benefit from a widely deployed common standard for the exchange of data.
Abstract If robots are to cooperate with humans in an increasingly human-like manner, then signif... more Abstract If robots are to cooperate with humans in an increasingly human-like manner, then significant progress must be made in their abilities to observe and learn to perform novel goal directed actions in a flexible and adaptive manner. The current research addresses this challenge. In CHRIS. I [1], we developed a platform-independent perceptual system that learns from observation to recognize human actions in a way which abstracted from the specifics of the robotic platform, learning actions including?????????
Abstract This paper presents a proposal for a manufacturing upper ontology, aimed to draft a comm... more Abstract This paper presents a proposal for a manufacturing upper ontology, aimed to draft a common semantic net in manufacturing domain. Usefulness of ontologies for data formalization and sharing, especially in a manufacturing environment, are first discussed. Details are given about the Web ontology language (OWL) and its adequation for ontologies in the manufacturing systems is shown.
Abstract—One of the long term objectives of robotics and artificial cognitive systems is that rob... more Abstract—One of the long term objectives of robotics and artificial cognitive systems is that robots will increasingly be capable of interacting in a cooperative and adaptive manner with their human counterparts in open-ended tasks that can change in real-time. In such situations, an important aspect of the robot behavior will be the ability to acquire new knowledge of the cooperative tasks by observing humans. At least two significant challenges can be identified in this context.
Abstract This paper presents MORSE, a new open-source robotics simulator.
Abstract—This paper presents an embeddable knowledge processing framework, along with a common-se... more Abstract—This paper presents an embeddable knowledge processing framework, along with a common-sense ontology, designed for robotics. We believe that a direct and explicit integration of cognition is a compulsory step to enable humanrobots interaction in semantic-rich human environments like our houses. The OpenRobots Ontology (ORO) kernel allows to turn previously acquired symbols into concepts linked to each other.
Abstract This paper presents how extraction, representation and use of symbolic knowledge from re... more Abstract This paper presents how extraction, representation and use of symbolic knowledge from real-world perception and human-robot verbal and non-verbal interaction can actually enable a grounded and shared model of the world that is suitable for later high-level tasks such as dialogue understanding. We show how the anchoring process itself relies on the situated nature of human-robot interactions.
Uploads
Papers by Séverin Lemaignan