IRI - SOCIAL PIA: Cooperative Social PIA model for Cybernetics Avatars (Moonshot Research and Development Program)

Research Project

SOCIAL PIA: Cooperative Social PIA model for Cybernetics Avatars (Moonshot Research and Development Program)

Type

UPC Project

Start Date

01/04/2023

End Date

30/11/2025

Project Code

JPMJMS2011-85

Staff

Sanfeliu, Alberto

Principal Investigator
Bo, Valerio

Researcher

Santamaria, Angel

Researcher
Grosch, Patrick John

Researcher

Puig-Pey, Ana Maria

Researcher
Garrell, Anaís

Researcher

Dalmasso, Marc

PhD Student
Hriscu, Lavinia Beatrice

PhD Student

Domínguez, José Enrique

PhD Student
Bejarano, Edison Jair

PhD Student

Herrero, Fernando

Support
Gil, Oscar

Member

Laplaza, Javier

Member

Project Description

The SOCIAL-PIA (Cooperative Social PIA, Perception-Intention-Action, model for Cybernetics Avatars), is a project funded by JST (Japan Science and Technology Agency), under the Moonshot Goal 1 “Realization of a society in which human beings can be free from limitations of body, brain, space and time by 2050” (Prof. Norihiro Hagita) and in the Moonshot project “The Realization of an avatar-Symbiotic Society where Everyone can Perform Active Roles without Constraint” (Prof. Hiroshi Ishiguro).

The aim of the project is to develop the cooperation between humans (with the operator and the end-user or bystander) and Cybernetic Avatars (CA) through the PIA paradigm (Perception-Intention-Action). The project proposes to conduct research on human intention and how it relates to the Situation Awareness and Decision-Making PIA processes, with two goals in mind: to assist the operator in handling Interactive/Cooperative tasks, and to improve the autonomous CA interaction/cooperation between CAs and end-users/bystanders. The PIA paradigm will allow to anticipate human action, be pro-active or follow a preestablished plan. The project will be demonstrated in interactive and cooperative telepresence tasks, to study the differences among different cultures: European vs. Japanese.

Project Publications

Journal Publications

M. Dalmasso, J.E. Domínguez, I.J. Torres, P. Jiménez, A. Garrell Zulueta and A. Sanfeliu. Shared task representation for human–robot collaborative navigation: The collaborative search case. International Journal of Social Robotics, 16: 145-171, 2024.

Abstract Info PDF
J.E. Domínguez, N.A. Rodríguez and A. Sanfeliu. Perception–intention–action cycle in human–robot collaborative tasks: The collaborative lightweight object transportation use-case. International Journal of Social Robotics, 2024, to appear.

Abstract Info PDF
O. Gil and A. Sanfeliu. Human-robot collaborative minimum time search through sub-priors in ant colony optimization. IEEE Robotics and Automation Letters, 9(11): 10216-10223, 2024.

Abstract Info PDF
J. Laplaza, F. Moreno-Noguer and A. Sanfeliu. Enhancing robotic collaborative tasks through contextual human motion prediction and intention inference. International Journal of Social Robotics: 1-20, 2024, to appear.

Abstract Info PDF

Conference Publications

F. Gebelli, L.B. Hriscu, R. Ros, S. Lemaignan, A. Sanfeliu and A. Garrell Zulueta. Personalised explainable robots using LLMs, 2025 ACM/IEEE International Conference on Human-Robot Interaction, 2025, Melbourne, Australia, pp. 1304-1308.

Abstract Info PDF
J.E. Domínguez and A. Sanfeliu. Voice Command Recognition for Explicit Intent Elicitation in Collaborative Object Transportation Tasks: a ROS-based Implementation, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 412–416.

Abstract Info PDF
M. Dalmasso, V. Sanchez-Anguix, A. Garrell Zulueta, P. Jiménez and A. Sanfeliu. Exploring Preferences in Human-Robot Navigation Plan Proposal Representation, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 369-373.

Abstract Info PDF
J.E. Domínguez and A. Sanfeliu. Exploring transformers and visual transformers for force prediction in human-robot collaborative transportation tasks, 2024 IEEE International Conference on Robotics and Automation, 2024, Yokohama (Japan), pp. 3191-3197.

Abstract Info PDF
J.E. Domínguez and A. Sanfeliu. Anticipation and proactivity. Unraveling both concepts in human-robot interaction through a handover example, 33rd IEEE International Symposium on Robot and Human Interactive Communication, 2024, Pasadena, California, USA, pp. 957-962, IEEE.

Abstract Info PDF
J.E. Domínguez and A. Sanfeliu. Force and velocity prediction in human-robot collaborative transportation tasks through video retentive networks, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024, Abu Dhabi, UAE, pp. 9307-9313.

Abstract Info PDF
J. Laplaza, J.J. Oliver, A. Sanfeliu and A. Garrell Zulueta. Body gestures recognition for social human-robot interaction, 7th Iberian Robotics Conference, 2024, Madrid, Spain.

Abstract Info PDF
S.H. Seo, D.J. Rea, K. Kochigami, T. Kanda, J.E. Young, Y. Nakano, A. Sanfeliu and H. Ishiguro. Symbiotic society with avatars (SSA): Toward empowering social interactions beyond space and time, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 1352-1354.

Abstract Info PDF
E. Repiso, A. Garrell Zulueta and A. Sanfeliu. Real-life experiment metrics for evaluating human-robot collaborative navigation tasks, 32nd IEEE International Symposium on Robot and Human Interactive Communication, 2023, Busan, Korea, pp. 660-667.

Abstract Info PDF
O. Gil and A. Sanfeliu. Human motion trajectory prediction using the Social Force Model for real-time and low computational cost applications, 6th Iberian Robotics Conference, 2023, Coimbra, Portugal, pp. 235–247, Springer.

Abstract Info PDF
J.E. Domínguez and A. Sanfeliu. Inference vs. explicitness. Do we really need the perfect predictor? The human-robot collaborative object transportation case, 32nd IEEE International Symposium on Robot and Human Interactive Communication, 2023, Busan, Korea, pp. 1866-1871.

Abstract Info PDF
J.E. Domínguez and A. Sanfeliu. Improving human-robot interaction effectiveness in human-robot collaborative object transportation using force prediction, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, Detroit, MI, USA, pp. 7839-7845.

Abstract Info PDF

Institut de Robòtica i Informàtica Industrial, CSIC-UPC
C/ Llorens i Artigas 4-6, 08028, Barcelona, Spain

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Research Project

SOCIAL PIA: Cooperative Social PIA model for Cybernetics Avatars (Moonshot Research and Development Program)

Type

Start Date

End Date

Project Code

Staff

Principal Investigator

Researcher

Researcher

Researcher

Researcher

Researcher

PhD Student

PhD Student

PhD Student

PhD Student

Support

Member

Member

Project Description

Project Publications

Journal Publications

M. Dalmasso, J.E. Domínguez, I.J. Torres, P. Jiménez, A. Garrell Zulueta and A. Sanfeliu. Shared task representation for human–robot collaborative navigation: The collaborative search case. International Journal of Social Robotics, 16: 145-171, 2024.

J.E. Domínguez, N.A. Rodríguez and A. Sanfeliu. Perception–intention–action cycle in human–robot collaborative tasks: The collaborative lightweight object transportation use-case. International Journal of Social Robotics, 2024, to appear.

O. Gil and A. Sanfeliu. Human-robot collaborative minimum time search through sub-priors in ant colony optimization. IEEE Robotics and Automation Letters, 9(11): 10216-10223, 2024.

J. Laplaza, F. Moreno-Noguer and A. Sanfeliu. Enhancing robotic collaborative tasks through contextual human motion prediction and intention inference. International Journal of Social Robotics: 1-20, 2024, to appear.

Conference Publications

F. Gebelli, L.B. Hriscu, R. Ros, S. Lemaignan, A. Sanfeliu and A. Garrell Zulueta. Personalised explainable robots using LLMs, 2025 ACM/IEEE International Conference on Human-Robot Interaction, 2025, Melbourne, Australia, pp. 1304-1308.

J.E. Domínguez and A. Sanfeliu. Voice Command Recognition for Explicit Intent Elicitation in Collaborative Object Transportation Tasks: a ROS-based Implementation, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 412–416.

M. Dalmasso, V. Sanchez-Anguix, A. Garrell Zulueta, P. Jiménez and A. Sanfeliu. Exploring Preferences in Human-Robot Navigation Plan Proposal Representation, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 369-373.

J.E. Domínguez and A. Sanfeliu. Exploring transformers and visual transformers for force prediction in human-robot collaborative transportation tasks, 2024 IEEE International Conference on Robotics and Automation, 2024, Yokohama (Japan), pp. 3191-3197.

J.E. Domínguez and A. Sanfeliu. Anticipation and proactivity. Unraveling both concepts in human-robot interaction through a handover example, 33rd IEEE International Symposium on Robot and Human Interactive Communication, 2024, Pasadena, California, USA, pp. 957-962, IEEE.

J.E. Domínguez and A. Sanfeliu. Force and velocity prediction in human-robot collaborative transportation tasks through video retentive networks, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024, Abu Dhabi, UAE, pp. 9307-9313.

J. Laplaza, J.J. Oliver, A. Sanfeliu and A. Garrell Zulueta. Body gestures recognition for social human-robot interaction, 7th Iberian Robotics Conference, 2024, Madrid, Spain.

E. Repiso, A. Garrell Zulueta and A. Sanfeliu. Real-life experiment metrics for evaluating human-robot collaborative navigation tasks, 32nd IEEE International Symposium on Robot and Human Interactive Communication, 2023, Busan, Korea, pp. 660-667.

O. Gil and A. Sanfeliu. Human motion trajectory prediction using the Social Force Model for real-time and low computational cost applications, 6th Iberian Robotics Conference, 2023, Coimbra, Portugal, pp. 235–247, Springer.

J.E. Domínguez and A. Sanfeliu. Inference vs. explicitness. Do we really need the perfect predictor? The human-robot collaborative object transportation case, 32nd IEEE International Symposium on Robot and Human Interactive Communication, 2023, Busan, Korea, pp. 1866-1871.

J.E. Domínguez and A. Sanfeliu. Improving human-robot interaction effectiveness in human-robot collaborative object transportation using force prediction, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, Detroit, MI, USA, pp. 7839-7845.