A Human-Centered Approach for Bootstrapping Causal Graph Creation

Causal inference, a cornerstone in disciplines such as economics, genomics, and medicine, is increasingly being recognized as fundamental to advancing the field of robotics. In particular, the ability to reason about cause and effect from observational data is crucial for robust generalization in robotic systems. However, the construction of a causal graphical model, a mechanism for representing causal relations, presents an immense challenge. Currently, a nuanced grasp of causal inference, coupled with an understanding of causal relationships, must be manually programmed into a causal graphical model. To address this difficulty, we present initial results towards a human-centered augmented reality framework for creating causal graphical models. Concretely, our system bootstraps the causal discovery process by involving humans in selecting variables, establishing relationships, performing interventions, generating counterfactual explanations, and evaluating the resulting causal graph at every step. We highlight the potential of our framework via a physical robot manipulator on a pick-and-place task.

Intuitive Robot Integration via Virtual Reality Workspaces

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic component, or adding more robots into an existing infrastructure, remains a challenge. This is due to both the logistics of acquiring a robot and the need for expert knowledge in setting it up. In this paper, we address these concerns by developing a purely virtual simulation of a robotic system. Our proposed framework enables natural human-robot interaction through a visually immersive representation of the workspace. The main advantages of our approach are the following: (i) independence from a physical system, (ii) flexibility in defining the workspace and robotic tasks, and (iii) an intuitive interaction between the operator and the simulated environment. Not only does our system provide an enhanced understanding of 3D space to the operator, but it also encourages a hands-on way to perform robot programming. We evaluate the effectiveness of our method in applying novel automation assignments by training a robot in virtual reality and then executing the task on a real robot.