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Human–robot collaboration has emerged as a prominent research topic in recent years. To enhance collaboration and ensure safety between humans and robots, researchers employ a variety of methods. One such method is physiological computing, which aims to estimate a human’s psycho-physiological state by measuring various physiological signals such as galvanic skin response (GSR), electrocardiograph (ECG), heart rate variability (HRV), and electroencephalogram (EEG). This information is then used to provide feedback to the robot. In this paper, we present the latest state-of-the-art methods in physiological computing for human–robot collaboration. Our goal is to provide a comprehensive guide for new researchers to understand the commonly used physiological signals, data collection methods, and data labeling techniques. Additionally, we have categorized and tabulated relevant research to further aid in understanding this area of study. 

The active inference framework (AIF) is a promising new computational framework grounded in contemporary neuroscience that can produce human-like behavior through reward-based learning. In this study, we test the ability for the AIF to capture the role of anticipation in the visual guidance of action in humans through the systematic investigation of a visual-motor task that has been well-explored—that of intercepting a target moving over a ground plane. Previous research demonstrated that humans performing this task resorted to anticipatory changes in speed intended to compensate for semi-predictable changes in target speed later in the approach. To capture this behavior, our proposed “neural” AIF agent uses artificial neural networks to select actions on the basis of a very short term prediction of the information about the task environment that these actions would reveal along with a long-term estimate of the resulting cumulative expected free energy. Systematic variation revealed that anticipatory behavior emerged only when required by limitations on the agent's movement capabilities, and only when the agent was able to estimate accumulated free energy over sufficiently long durations into the future. In addition, we present a novel formulation of the prior mapping function that maps a multi-dimensional world-state to a uni-dimensional distribution of free-energy/reward. Together, these results demonstrate the use of AIF as a plausible model of anticipatory visually guided behavior in humans. 

Deaf and hard of hearing individuals regularly rely on captioning while watching live TV. Live TV captioning is evaluated by regulatory agencies using various caption evaluation metrics. However, caption evaluation metrics are often not informed by preferences of DHH users or how meaningful the captions are. There is a need to construct caption evaluation metrics that take the relative importance of words in transcript into account. We conducted correlation analysis between two types of word embeddings and human-annotated labelled word-importance scores in existing corpus. We found that normalized contextualized word embeddings generated using BERT correlated better with manually annotated importance scores than word2vec-based word embeddings. We make available a pairing of word embeddings and their human-annotated importance scores. We also provide proof-of-concept utility by training word importance models, achieving an F1-score of 0.57 in the 6-class word importance classification task. 

Interfacing between robots and humans has come a long way in the past few years, and new methods for smart, robust interaction are needed. Typically, a technician has to program a routine for a robot in order for the robot to be useful. This puts up a significant barrier to entry into the field of automating tasks using robots—not only is a technician and a computer required, but the robot is not adaptive to the immediate needs of the user. The robot is only capable of executing a pre-determined task and for any change to be made the entire system needs to be paused. This project seeks to bridge the gap between user and robot interface, creating an easy-to-use system that allows for adaptive robot control. Using a combination of computer vision and a monocular camera system and integrated LiDAR sensor on an iPhone, gesture recognition and pose estimation was conducted within an independent system to control the Baxter humanoid robot. The gathered data was sent wirelessly to the robot to be interpreted and then replay actions performed by the user.