NRI: INT: COLLAB: Program Verification and Synthesis for Collaborative Robots

NRI：INT：COLLAB：协作机器人的程序验证和综合

• 批准号: 1925043
• 负责人: Bilge Mutlu
• 金额: $ 95.89万
• 依托单位: University of Wisconsin-Madison
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-09-01 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1925043&HistoricalAwards=false
• 关键词: NRI; INT; COLLAB; Program; Verification

Developing applications for robots currently requires advanced knowledge and skills in both robotics and software engineering. As a result, development of robot applications is currently only accessible to a very small segment of the population, excluding those who might have the deepest insight about potential application domains for robots (e.g., experts in logistics, manufacturing, marketing), those who might be better suited to design robot behaviors for human interaction (e.g., designers, artists, psychologists), and those who might be using and repurposing robots day-to-day (e.g., end-users, supervisors, maintenance personnel). This project aims to design and implement a suite of tools and methods, powered by developments in the field of programming languages, to enable the programming of interactive robots with minimal prior experience. These tools and methods will assist all stages of the programming process, including ideation of what the robot behavior should be, coding of the program, its testing on the robot to guarantee certain properties, and adapting the program for deployments in different contexts. The research will make robot programming accessible to the broader public and "democratize" it by substantially lowering barriers to engagement in technology development. Through collaborations with domain experts, the principles, methods, and tools created by the project will be applied to real-world robotics applications, transferring the scientific contributions of the project to robotics organizations. Through an integrated education program, computer science training and curriculum will be enhanced across three institutions by introducing new courses and course modules on robotics software development. To facilitate public understanding of and engagement with science and technology, a robot programming environment for elementary- and middle-school-aged children will be developed along with a structured curriculum for its use in an outreach summer program, and these will be widely disseminated as open-source materials.The key innovation of the project is the development of novel paradigms for programming that use state-of-the-art program analysis and synthesis methods to support a wide range of programming tasks across the development cycle for robotics applications. Specifically, the project will support each stage of the cycle in three research thrusts with the following objectives: (1) facilitating the capture of user intent by translating designer and end-user intent captured through acting and dialogue into robot programs; (2) supporting iterative development and testing by facilitating the development, refinement, analysis, and synthesis of robust, reliable, and effective robot programs; (3) optimizing deployment by enabling the adaptation of existing robot programs into new environments, scenarios of use, and social contexts. The outcomes of these research thrusts will be integrated into a suite of robot programming tools within the ROS framework and deployed in real-world robot programming tasks in collaboration with industrial partners.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

目前，开发机器人应用程序需要机器人和软件工程方面的高级知识和技能。因此，机器人应用程序的开发目前仅适用于极小部分人群，不包括那些可能对机器人潜在应用领域有最深入了解的人（例如物流、制造、营销方面的专家），那些可能对机器人的潜在应用领域有最深入了解的人更适合为人类交互设计机器人行为（例如设计师、艺术家、心理学家），以及那些可能日常使用和重新利用机器人的人（例如最终用户、主管、维护人员）。该项目旨在设计和实现一套由编程语言领域的发展提供支持的工具和方法，以便能够以最少的经验进行交互式机器人的编程。这些工具和方法将协助编程过程的所有阶段，包括构思机器人的行为应该是什么、程序的编码、在机器人上进行测试以保证某些属性，以及调整程序以适应不同环境中的部署。该研究将使机器人编程向更广泛的公众开放，并通过大幅降低参与技术开发的障碍来使其“民主化”。通过与领域专家的合作，该项目创建的原理、方法和工具将应用于现实世界的机器人应用，将该项目的科学贡献转移给机器人组织。通过综合教育计划，三个机构将通过引入有关机器人软件开发的新课程和课程模块来加强计算机科学培训和课程。为促进公众对科学技术的理解和参与，将开发针对中小学生的机器人编程环境，并在暑期外展项目中使用结构化课程，并将其广泛传播该项目的关键创新是开发新颖的编程范例，使用最先进的程序分析和综合方法来支持机器人应用程序开发周期中的各种编程任务。具体来说，该项目将在三个研究重点中支持该周期的每个阶段，其目标如下：（1）通过将通过行动和对话捕获的设计师和最终用户意图转化为机器人程序来促进捕获用户意图； (2) 通过促进稳健、可靠和有效的机器人程序的开发、细化、分析和综合来支持迭代开发和测试； (3) 通过使现有机器人程序适应新的环境、使用场景和社交环境来优化部署。这些研究成果将被集成到 ROS 框架内的一套机器人编程工具中，并与工业合作伙伴合作部署到现实世界的机器人编程任务中。该奖项反映了 NSF 的法定使命，并通过评估被认为值得支持利用基金会的智力优势和更广泛的影响审查标准。

项目成果

Sketching Robot Programs On the Fly

即时绘制机器人程序草图

• DOI: 10.1145/3568162.3576991
• 发表时间: 2023
• 期刊: HRI '23: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction
• 作者: Porfirio, David;Stegner, Laura;Cakmak, Maya;Sauppé, Allison;Albarghouthi, Aws;Mutlu, Bilge
• 通讯作者: Mutlu, Bilge

Authr: A Task Authoring Environment for Human-Robot Teams

Authr：人机团队的任务创作环境

• DOI: 10.1145/3379337.3415872
• 发表时间: 2020
• 期刊: UIST '20: Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology
• 作者: Schoen, Andrew;Henrichs, Curt;Strohkirch, Mathias;Mutlu, Bilge
• 通讯作者: Mutlu, Bilge

Transforming Robot Programs Based on Social Context

基于社会背景改变机器人程序

• DOI: 10.1145/3313831.3376355
• 发表时间: 2020
• 期刊: CHI '20: Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems
• 作者: Porfirio, David;Sauppé, Allison;Albarghouthi, Aws;Mutlu, Bilge
• 通讯作者: Mutlu, Bilge

Learning Backchanneling Behaviors for a Social Robot via Data Augmentation from Human-Human Conversations

• 发表时间: 2021
• 作者: Michael Murray;Nick Walker;Amal Nanavati;Patrícia Alves-Oliveira;Nikita Filippov;Allison Sauppé;Bilge Mutlu;M. Cakmak

CoFrame: A System for Training Novice Cobot Programmers

CoFrame：用于培训新手协作机器人程序员的系统

• DOI: 10.5555/3523760.3523788
• 发表时间: 2022
• 期刊: HRI '22: Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction
• 作者: Schoen, Andrew;White, Nathan;Henrichs, Curt;Siebert-Evenstone, Amanda;Shaffer, David;Mutlu, Bilge
• 通讯作者: Mutlu, Bilge