CoBT: Collaborative Programming of Behaviour Trees from One Demonstration for Robot Manipulation

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we present CoBT, a collaborative programming by demonstration framework for generating reactive and modular behavior trees. CoBT relies on a single demonstration and a combination of data-driven machine learning methods with logic-based declarative learning to learn a task, thus eliminating the need for programming expertise or long development times. The proposed framework is experimentally validated on 7 manipulation tasks and we show that CoBT achieves approx. 93% success rate overall with an average of 7.5s programming time. We conduct a pilot study with non-expert users to provide feedback regarding the usability of CoBT.

Analyzing Operator States and the Impact of AI-Enhanced Decision Support in Control Rooms: A Human-in-the-Loop Specialized Reinforcement Learning Framework for Intervention Strategies

In complex industrial and chemical process control rooms, effective decision-making is crucial for safety and efficiency. The experiments in this paper evaluate the impact and applications of an AI-based decision support system integrated into an improved human-machine interface, using dynamic influence diagrams, a hidden Markov model, and deep reinforcement learning. The enhanced support system aims to reduce operator workload, improve situational awareness, and provide different intervention strategies to the operator adapted to the current state of both the system and human performance. Such a system can be particularly useful in cases of information overload when many alarms and inputs are presented all within the same time window, or for junior operators during training. A comprehensive cross-data analysis was conducted, involving 47 participants and a diverse range of data sources such as smartwatch metrics, eye-tracking data, process logs, and responses from questionnaires. The results indicate interesting insights regarding the effectiveness of the approach in aiding decision-making, decreasing perceived workload, and increasing situational awareness for the scenarios considered. Additionally, the results provide valuable insights to compare differences between styles of information gathering when using the system by individual participants. These findings are particularly relevant when predicting the overall performance of the individual participant and their capacity to successfully handle a plant upset and the alarms connected to it using process and human-machine interaction logs in real-time. These predictions enable the development of more effective intervention strategies.