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Human-Robot Instruction for Perceptual Teamwork

Award Information

Agency:
Department of Defense
Branch:
Defense Advanced Research Projects Agency
Award ID:
91773
Program Year/Program:
2009 / SBIR
Agency Tracking Number:
08SB2-0598
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Kitware Inc.
28 Corporate Drive Clifton Park, NY 12065-8688
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2009
Title: Human-Robot Instruction for Perceptual Teamwork
Agency / Branch: DOD / DARPA
Contract: W31P4Q-09-C-0265
Award Amount: $98,856.00
 

Abstract:

The utility of mobile robots would be greatly enhanced if they could be taught how to be competent, helpful members of military teams in the field. We propose a method for human instruction of robots, where the instructor teaches the robot how to recognize common situations and activities surrounding it, and how it should behave as part of those activities. Our approach is based on combining probabilistic models of group activities, prior domain and general knowledge, and human instruction. The instructor can guide the robot learning process by providing initial activity specifications, and corrections of the robot's interpretation of its environment through noisy observations (tracks of nearby objects). In Phase 1, we will develop initial methods for activity model specification and learning with human instruction. We will use the system to investigate the tradeoff between prior knowledge, video training examples and human instruction. Greater levels of instruction can compensate for less training data, but would require more effort from the instructor.

Principal Investigator:

Anthony Hoogs
Director of Computer Vision
5183713971
anthony.hoogs@kitware.com

Business Contact:

Anthony Hoogs
Director of Computer Vision
5183713971
anthony.hoogs@kitware.com
Small Business Information at Submission:

KITWARE
28 Corporate Drive Clifton Park, NY 12065

EIN/Tax ID: 141802694
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No