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What Am I Allowed to Do Here?: Online Learning of Context-Specific Norms by Pepper

Part of the Lecture Notes in Computer Science book series (LNAI,volume 12483)

Abstract

Social norms support coordination and cooperation in society. With social robots becoming increasingly involved in our society, they also need to follow the social norms of the society. This paper presents a computational framework for learning contexts and the social norms present in a context in an online manner on a robot. The paper utilizes a recent state-of-the-art approach for incremental learning and adapts it for online learning of scenes (contexts). The paper further utilizes Dempster-Schafer theory to model context-specific norms. After learning the scenes (contexts), we use active learning to learn related norms. We test our approach on the Pepper robot by taking it through different scene locations. Our results show that Pepper can learn different scenes and related norms simply by communicating with a human partner in an online manner.

Keywords

  • Online learning
  • Indoor scene classification
  • Norm learning
  • Active learning
  • Human-robot interaction

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Acknowledgements

This work was partially supported by the Air Force Office of Sponsored Research contract FA9550-17-1-0017 and National Science Foundation grant CNS-1830390. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.

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Ayub, A., Wagner, A.R. (2020). What Am I Allowed to Do Here?: Online Learning of Context-Specific Norms by Pepper. In: , et al. Social Robotics. ICSR 2020. Lecture Notes in Computer Science(), vol 12483. Springer, Cham. https://doi.org/10.1007/978-3-030-62056-1_19

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  • DOI: https://doi.org/10.1007/978-3-030-62056-1_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-62055-4

  • Online ISBN: 978-3-030-62056-1

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