Although artificial intelligence holds promise for addressing societ al challenges, issues of exactly which tasks to automate and the extent to do so remain understudied. We approach the problem of task delegability from a human-centered perspective by developing a framework on human perception of task delegation to artificial intelligence. We consider four high-level factors that can contribute to a delegation decision: motivation, difficulty, risk, and trust. To obtain an empirical understanding of human preferences in different tasks, we build a dataset of 100 tasks from academic papers, popular media portrayal of AI, and everyday life. For each task, we administer a survey to collect judgments of each factor and ask subjects to pick the extent to which they prefer AI involvement. We find little preference for full AI control and a strong preference for machine-in-the-loop designs, in which humans play the leading role. Our framework can effectively predict human preferences in degrees of AI assistance. Among the four factors, trust is the most predictive of human preferences of optimal human-machine delegation. This framework represents a first step towards characterizing human preferences of automation across tasks. We hope this work may encourage and aid in future efforts towards understanding such individual attitudes; our goal is to inform the public and the AI research community rather than dictating any direction in technology development.
sheridan-parasuraman2000model 's Levels of Automation is the closest to our work @cite_7 . However, their work is primarily concerned with performance-based criteria (e.g., capability, reliability, cost), while our primary interest involves human preferences.
@cite_7
2207352740 2405121398 2107851383 1982920857
The execution of long-horizon tasks under uncertainty is a fundamental challenge in robotics. Recent approaches have made headway on these tasks with an integration of task and motion planning. In this paper, we present Interfaced Belief Space Planning (IBSP): a modular approach to task and motion planning in belief space. We use a task-independent interface layer to combine an off-the-shelf classical planner with motion planning and inference. We determinize the problem under the maximum likelihood observation assumption to obtain a deterministic representation where successful plans generate goal-directed observations. We leverage properties of maximum likelihood observation determinizations to obtain a simple representation of (optimistic) belief space dynamics that is well-suited to planning. Our interface is implemented with standard belief state queries, requiring only the ability to sample, compute unnormalized likelihoods, and compute maximum likelihood states. Our contribution is a novel algorithm for task and motion planning in belief space that has minimal dependence on the details of the inference engine used. IBSP can work with a broad class of black box state estimators, with zero changes to the algorithm. We validate our approach in simulated tasks for the PR2 that account for continuous state, different types of initial state distributions, and negative observations. COMPUTATIONAL MODELING APPROACHES FOR TASK ANALYSIS IN ROBOTIC-ASSISTED SURGERY by MAHTAB JAHANBANI FARD May 2016 Advisor: Dr. R. Darin Ellis Major: Industrial Engineering Degree: Doctor of Philosophy Surgery is continuously subject to technological innovations including the introduction of robotic surgical devices. The ultimate goal is to program the surgical robot to perform certain difficult or complex surgical tasks in an autonomous manner. The feasibility of current robotic surgery systems to record quantitative motion and video data motivates developing descriptive mathematical models to recognize, classify and analyze surgical tasks. Recent advances in machine learning research for uncovering concealed patterns in huge data sets, like kinematic and video data, offer a possibility to better understand surgical procedures from a system point of view. This dissertation focuses on bridging the gap between these two lines of the research by developing computational models for task analysis in robotic-assisted surgery. The key step for advance study in robotic-assisted surgery and autonomous skill assess- ment is to develop techniques that are capable of recognizing fundamental surgical tasks intelligently. Surgical tasks and at a more granular level, surgical gestures, need to be quan- tified to make them amenable for further study. To answer to this query, we introduce a new framework, namely DTW-kNN, to recognize and classify three important surgical tasks including suturing, needle passing and knot tying based on kinematic data captured using da Vinci robotic surgery system. Our proposed method needs minimum preprocessing that Adaptation to partial failure is one of the most important requirements for space robotics, since space robots cannot be repaired after they have been launched. We propose a decentralized autonomous control algorithm for hyper-redundant manipulators that uses parallel processing with low-performance processors to achieve this adaptation. In this paper, a number of manipulator joints are locked at a certain angle in a computer simulation and the adaptability of the control algorithm to these failures is assessed. The control algorithm successfully continues its positioning task at a rate of more than 90 , even after half of its joints have failed. The control algorithm is also compared with behavior-based control architecture. We consider the problem of autonomous robotic laundry folding, and propose a solution to the perception and manipulation challenges inherent to the task. At the core of our approach is a quasi-static cloth model which allows us to neglect the complex dynamics of cloth under significant parts of the state space, allowing us to reason instead in terms of simple geometry. We present an algorithm which, given a 2D cloth polygon and a desired sequence of folds, outputs a motion plan for executing the corresponding manipulations, deemed g-folds, on a minimal number of robot grippers. We define parametrized fold sequences for four clothing categories: towels, pants, short-sleeved shirts, and long-sleeved shirts, each represented as polygons. We then devise a model-based optimization approach for visually inferring the class and pose of a spread-out or folded clothing article from a single image, such that the resulting polygon provides a parse suitable for these folding primitives. We test the manipulation and perception tasks individually, and combine them to implement an autonomous folding system on the Willow Garage PR2. This enables the PR2 to identify a clothing article spread out on a table, execute the computed folding sequence, and visually track its progress over successive folds.