Personalization of Industrial Human-Robot Communication through Domain Adaptation based on User Feedback
Bibliographic record
Abstract
Abstract Achieving safe collaboration between humans and robots in an industrial work-cell requires effective communication. This can be achieved through a robot perception system developed using data-driven machine learning. The challenge for human-robot communication is the availability of extensive, labelled datasets for training. Due to the variations in human behaviour and the impact of environmental conditions on the performance of perception models, models trained on standard, publicly available datasets fail to generalize well to domain and application-specific scenarios. Thus, model personalization involving the adaptation of such models to the individual humans involved in the task in the given environment would lead to better model performance. A novel framework is presented that leverages robust modes of communication and gathers feedback from the human partner to auto-label the mode with the sparse dataset. The strength of the contribution lies in using in-commensurable multimodes of inputs for personalizing models with user-specific data. The personalization through feedback-enabled human-robot communication (PF-HRCom) framework is implemented on the use of facial expression recognition as a safety feature to ensure that the human partner is engaged in the collaborative task with the robot. Additionally, PF-HRCom has been applied to a real-time human-robot handover task with a robotic manipulator. The perception module of the manipulator adapts to the user's facial expressions and personalizes the model using feedback. Having said that, the framework is applicable to other combinations of multimodal inputs in human-robot collaboration applications.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.005 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".