{"645366":{"#nid":"645366","#data":{"type":"event","title":"PhD Defense by Siddhartha Banerjee","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;Facilitating Reliable Autonomy with Human-Robot Interaction\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003ESiddhartha Banerjee\u003C\/p\u003E\r\n\r\n\u003Cp\u003ERobotics Ph.D. Student\u003C\/p\u003E\r\n\r\n\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\r\n\r\n\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EEmail: \u003Ca href=\u0022mailto:siddhartha.banerjee@gatech.edu\u0022\u003Esiddhartha.banerjee@gatech.edu\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDate: Friday, March 26 2021\u003C\/p\u003E\r\n\r\n\u003Cp\u003ETime: 1:30 PM to 3:30 PM (EST)\u003C\/p\u003E\r\n\r\n\u003Cp\u003ELocation:\u0026nbsp;\u003Cstrong\u003E*No Physical Location*\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EBlueJeans:\u0026nbsp;\u003Ca href=\u0022https:\/\/nam12.safelinks.protection.outlook.com\/?url=https%3A%2F%2Fprimetime.bluejeans.com%2Fa2m%2Flive-event%2Fwuhebugb\u0026amp;data=04%7C01%7Ctatianna.richardson%40grad.gatech.edu%7C2bf8b8be6af5413b27c208d8e6b732fd%7C482198bbae7b4b258b7a6d7f32faa083%7C0%7C0%7C637513021810109622%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000\u0026amp;sdata=H7Cwza1j9l5dph07Av5TNeODEsPpd5H31HjiIuewNKk%3D\u0026amp;reserved=0\u0022 id=\u0022LPlnk\u0022\u003Ehttps:\/\/primetime.bluejeans.com\/a2m\/live-event\/wuhebugb\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Sonia Chernova (advisor), School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Matthew Gombolay, School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Karen Feigh, Aerospace Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Laurel Riek, Computer Science and Engineering, UC San Diego\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Sean Andrist, Perception and Interaction Group, Microsoft Research\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EAutonomous robots are increasingly deployed to complex environments in which we cannot predict all possible failure cases a priori. Robustness to failures can be provided by humans enacting the roles of:\u003C\/p\u003E\r\n\r\n\u003Cul\u003E\r\n\t\u003Cli\u003E\u003Cem\u003Edevelopers\u003C\/em\u003E\u0026nbsp;who can iteratively incorporate robustness into the robot system,\u003C\/li\u003E\r\n\t\u003Cli\u003E\u003Cem\u003Ecollocated bystanders\u003C\/em\u003E\u0026nbsp;who can be approached for aid, and\u003C\/li\u003E\r\n\t\u003Cli\u003E\u003Cem\u003Eremote teleoperators\u003C\/em\u003E\u0026nbsp;who can be contacted for guidance.\u003C\/li\u003E\r\n\u003C\/ul\u003E\r\n\r\n\u003Cp\u003EHowever, assisting the robot in any of these roles can place demands on the time or effort of the human. This dissertation develops modules to reduce the frequency and duration of failure interventions in order to increase the reliability of autonomous robots, while also reducing the demand on humans. In pursuit of that goal, the dissertation makes the following contributions:\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Col\u003E\r\n\t\u003Cli\u003EA development paradigm for autonomous robots that separates task specification from error recovery. The paradigm reduces burden on developers while making the robot robust to failures.\u003C\/li\u003E\r\n\t\u003Cli\u003EA model for gauging the interruptibility of collocated humans. A human-subjects study shows that using the model can reduce the time expended by the robot during failure recovery.\u003C\/li\u003E\r\n\t\u003Cli\u003EA human-subjects experiment on the effects of decision support provided to remote operators during failures. The results show that humans need both diagnosis and action recommendations as decision support during an intervention.\u003C\/li\u003E\r\n\t\u003Cli\u003EAn evaluation of model features and unstructured Machine Learning (ML) techniques in pursuit of learning robust suggestions models from intervention data, in order to reduce developer effort. The results indicate that careful crafting of features can lead to improved performance, but that without such feature selection, current ML algorithms lack robustness in addressing a domain where the robot\u0026#39;s observations are heavily influenced by the user\u0026#39;s actions.\u003C\/li\u003E\r\n\u003C\/ol\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Facilitating Reliable Autonomy with Human-Robot Interaction"}],"uid":"27707","created_gmt":"2021-03-15 15:31:10","changed_gmt":"2021-03-15 15:31:10","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2021-03-26T14:30:00-04:00","event_time_end":"2021-03-26T16:30:00-04:00","event_time_end_last":"2021-03-26T16:30:00-04:00","gmt_time_start":"2021-03-26 18:30:00","gmt_time_end":"2021-03-26 20:30:00","gmt_time_end_last":"2021-03-26 20:30:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"174045","name":"Graduate students"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}