The ability to explain and motivate the execution of actions is a key feature for complex robotic systems. In this paper, we propose an executive framework, endowed with a hierarchical representation of tasks, where robot actions and constraints can be directly associated with natural language explanations in order to facilitate the design of novel tasks and the understanding of executing ones. The executive system relies on a cognitive control paradigm where attentional regulations are exploited to both schedule and explain robotic activities during tasks execution. The framework has been deployed in an industrial scenario where multiple pick-carry-and-place tasks are to executed, showing how the proposed approach naturally supports explainability and legibility of the robot behaviors.

Toward a Cognitive Control Framework for Explainable Robotics / Caccavale, R.; Finzi, A.. - 18:(2021), pp. 46-58. [10.1007/978-3-030-71356-0_4]

Toward a Cognitive Control Framework for Explainable Robotics

Caccavale R.
;
Finzi A.
2021

Abstract

The ability to explain and motivate the execution of actions is a key feature for complex robotic systems. In this paper, we propose an executive framework, endowed with a hierarchical representation of tasks, where robot actions and constraints can be directly associated with natural language explanations in order to facilitate the design of novel tasks and the understanding of executing ones. The executive system relies on a cognitive control paradigm where attentional regulations are exploited to both schedule and explain robotic activities during tasks execution. The framework has been deployed in an industrial scenario where multiple pick-carry-and-place tasks are to executed, showing how the proposed approach naturally supports explainability and legibility of the robot behaviors.
2021
978-3-030-71355-3
978-3-030-71356-0
Toward a Cognitive Control Framework for Explainable Robotics / Caccavale, R.; Finzi, A.. - 18:(2021), pp. 46-58. [10.1007/978-3-030-71356-0_4]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/865515
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