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GhostAR: A Time-space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality

Authors:

Manav Wadhawan,

Karthik RamaniAuthors Info & Claims

UIST '19: Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology

Pages 521 - 534

https://doi.org/10.1145/3332165.3347902

Published: 17 October 2019 Publication History

Abstract

We present GhostAR, a time-space editor for authoring and acting Human-Robot-Collaborative (HRC) tasks in-situ. Our system adopts an embodied authoring approach in Augmented Reality (AR), for spatially editing the actions and programming the robots through demonstrative role-playing. We propose a novel HRC workflow that externalizes user's authoring as demonstrative and editable AR ghost, allowing for spatially situated visual referencing, realistic animated simulation, and collaborative action guidance. We develop a dynamic time warping (DTW) based collaboration model which takes the real-time captured motion as inputs, maps it to the previously authored human actions, and outputs the corresponding robot actions to achieve adaptive collaboration. We emphasize an in-situ authoring and rapid iterations of joint plans without an offline training process. Further, we demonstrate and evaluate the effectiveness of our workflow through HRC use cases and a three-session user study.

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Index Terms

GhostAR: A Time-space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interactive systems and tools
2. Information systems
  1. Information systems applications
    1. Multimedia information systems
      1. Multimedia content creation
    2. Spatial-temporal systems

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cover image ACM Conferences

UIST '19: Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology

October 2019

1229 pages

ISBN:9781450368162

DOI:10.1145/3332165

General Chair:
François Guimbretière
Cornell University, USA
,
Program Chairs:
Michael Bernstein
Stanford University, USA
,
Katharina Reinecke
University of Washington, USA

Copyright © 2019 ACM.

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Published: 17 October 2019

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Stegner LHwang YPorfirio DMutlu B(2024)Understanding On-the-Fly End-User Robot ProgrammingProceedings of the 2024 ACM Designing Interactive Systems Conference10.1145/3643834.3660721(2468-2480)Online publication date: 1-Jul-2024
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https://dl.acm.org/doi/10.1145/3640008
Ghamandi RKattoju RHmaiti YMaslych MTaranta EMcMahan RLaViola J(2024)Unlocking Understanding: An Investigation of Multimodal Communication in Virtual Reality CollaborationProceedings of the CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642491(1-16)Online publication date: 11-May-2024
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