Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and team performance, 16 real-world missions (10 hrs) were conducted based on the DARPA Subterranean Challenge. These missions were to deploy a heterogeneous team of robots for a search task to locate and identify artifacts such as climbing rope, drills and mannequins representing human survivors. Two conditions were evaluated: human operators that could control the robot team with state-of-the-art autonomy (Human-Robot Team) compared to autonomous missions without human operator input (Robot-Autonomy). Human-Robot Teams were often in directed autonomy mode (70% of mission time), found more items, traversed more distance, covered more unique ground, and had a higher time between safety-related events. Human-Robot Teams were faster at finding the first artifact, but slower to respond to information from the robot team. In routine conditions, scores were comparable for artifacts, distance, and coverage. Reasons for intervention included creating waypoints to prioritise high-yield areas, and to navigate through error-prone spaces. After observing robot autonomy, operators reported increases in robot competency and trust, but that robot behaviour was not always transparent and understandable, even after high mission performance.

本文介绍了Cerberus机器人系统系统，该系统赢得了DARPA Subterranean挑战最终活动。出席机器人自主权。由于其几何复杂性，降解的感知条件以及缺乏GPS支持，严峻的导航条件和拒绝通信，地下设置使自动操作变得特别要求。为了应对这一挑战，我们开发了Cerberus系统，该系统利用了腿部和飞行机器人的协同作用，再加上可靠的控制，尤其是为了克服危险的地形，多模式和多机器人感知，以在传感器退化，以及在传感器退化的条件下进行映射以及映射通过统一的探索路径计划和本地运动计划，反映机器人特定限制的弹性自主权。 Cerberus基于其探索各种地下环境及其高级指挥和控制的能力，表现出有效的探索，对感兴趣的对象的可靠检测以及准确的映射。在本文中，我们报告了DARPA地下挑战赛的初步奔跑和最终奖项的结果，并讨论了为社区带来利益的教训所面临的亮点和挑战。

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.

本文提出了一种新颖的方法，用于在具有复杂拓扑结构的地下领域的搜索和救援行动中自动合作。作为CTU-Cras-Norlab团队的一部分，拟议的系统在DARPA SubT决赛的虚拟轨道中排名第二。与专门为虚拟轨道开发的获奖解决方案相反，该建议的解决方案也被证明是在现实世界竞争极为严峻和狭窄的环境中飞行的机上实体无人机的强大系统。提出的方法可以使无缝模拟转移的无人机团队完全自主和分散的部署，并证明了其优于不同环境可飞行空间的移动UGV团队的优势。该论文的主要贡献存在于映射和导航管道中。映射方法采用新颖的地图表示形式 - 用于有效的风险意识长距离计划，面向覆盖范围和压缩的拓扑范围的LTVMAP领域，以允许在低频道通信下进行多机器人合作。这些表示形式与新的方法一起在导航中使用，以在一般的3D环境中可见性受限的知情搜索，而对环境结构没有任何假设，同时将深度探索与传感器覆盖的剥削保持平衡。所提出的解决方案还包括一条视觉感知管道，用于在没有专用GPU的情况下在5 Hz处进行四个RGB流中感兴趣的对象的板上检测和定位。除了参与DARPA SubT外，在定性和定量评估的各种环境中，在不同的环境中进行了广泛的实验验证，UAV系统的性能得到了支持。

在数字治疗干预的背景下，例如互联网交付的认知行为治疗（ICBT）用于治疗抑郁和焦虑，广泛的研究表明，人类支持者或教练的参与如何协助接受治疗的人，改善用户参与治疗并导致更有效的健康结果而不是不受支持的干预措施。该研究旨在最大限度地提高这一人类支持的影响和结果，研究了通过AI和机器学习领域（ML）领域的最新进展提供的新机遇如何有助于有效地支持ICBT支持者的工作实践。本文报告了采访研究的详细调查结果，与15个ICBT支持者加深了解其现有的工作实践和信息需求，旨在有意义地向抑郁和焦虑治疗的背景下提供有用，可实现的ML申请。分析贡献（1）一组六个主题，总结了ICBT支持者在为其精神卫生客户提供有效，个性化反馈方面的策略和挑战;并回应这些学习，（2）对于ML方法如何帮助支持和解决挑战和信息需求，为每个主题提供具体机会。它依赖于在支持者LED客户审查实践中引入新的机器生成的数据见解的潜在社会，情感和务实含义的思考。

This article presents a survey of literature in the area of Human-Robot Interaction (HRI), specifically on systems containing more than two agents (i.e., having multiple humans and/or multiple robots). We identify three core aspects of ``Multi-agent" HRI systems that are useful for understanding how these systems differ from dyadic systems and from one another. These are the Team structure, Interaction style among agents, and the system's Computational characteristics. Under these core aspects, we present five attributes of HRI systems, namely Team size, Team composition, Interaction model, Communication modalities, and Robot control. These attributes are used to characterize and distinguish one system from another. We populate resulting categories with examples from recent literature along with a brief discussion of their applications and analyze how these attributes differ from the case of dyadic human-robot systems. We summarize key observations from the current literature, and identify challenges and promising areas for future research in this domain. In order to realize the vision of robots being part of the society and interacting seamlessly with humans, there is a need to expand research on multi-human -- multi-robot systems. Not only do these systems require coordination among several agents, they also involve multi-agent and indirect interactions which are absent from dyadic HRI systems. Adding multiple agents in HRI systems requires advanced interaction schemes, behavior understanding and control methods to allow natural interactions among humans and robots. In addition, research on human behavioral understanding in mixed human-robot teams also requires more attention. This will help formulate and implement effective robot control policies in HRI systems with large numbers of heterogeneous robots and humans; a team composition reflecting many real-world scenarios.

在迅速增长的海上风电场市场中出现了增加风力涡轮机尺寸和距离的全球趋势。在英国，海上风电业于2019年生产了英国最多的电力，前一年增加了19.6％。目前，英国将进一步增加产量，旨在增加安装的涡轮机容量74.7％，如最近的冠村租赁轮次反映。通过如此巨大的增长，该部门现在正在寻求机器人和人工智能（RAI），以解决生命周期服务障碍，以支持可持续和有利可图的海上风能生产。如今，RAI应用主要用于支持运营和维护的短期目标。然而，前进，RAI在海上风基础设施的全部生命周期中有可能发挥关键作用，从测量，规划，设计，物流，运营支持，培训和退役。本文介绍了离岸可再生能源部门的RAI的第一个系统评论之一。在当前和未来的要求方面，在行业和学术界的离岸能源需求分析了rai的最先进的。我们的评论还包括对支持RAI的投资，监管和技能开发的详细评估。通过专利和学术出版数据库进行详细分析确定的关键趋势，提供了对安全合规性和可靠性的自主平台认证等障碍的见解，这是自主车队中可扩展性的数字架构，适应性居民运营和优化的适应性规划人机互动对人与自治助理的信赖伙伴关系。

最近十年表明，人们对机器人作为福祉教练的兴趣越来越大。但是，尚未提出针对机器人设计作为促进心理健康的教练的凝聚力和全面的准则。本文详细介绍了基于基于扎根理论方法的定性荟萃分析的设计和道德建议，该方法是通过三项以用户为中心的涉及机器人福祉教练的三个不同的以用户为中心进行的，即：（1）与参与性设计研究一起进行的。 11名参与者由两位潜在用户组成，他们与人类教练一起参加了简短的专注于解决方案的实践研究，以及不同学科的教练，（2）半结构化的个人访谈数据，这些数据来自20名参加积极心理学干预研究的参与者借助机器人福祉教练胡椒，（3）与3名积极心理学研究的参与者以及2名相关的福祉教练进行了一项参与式设计研究。在进行主题分析和定性荟萃分析之后，我们将收集到收敛性和不同主题的数据整理在一起，并从这些结果中提炼了一套设计准则和道德考虑。我们的发现可以在设计机器人心理福祉教练时考虑到关键方面的关键方面。

船上自治技术，如规划和调度，识别科学目标和基于内容的数据摘要，将导致令人兴奋的新空间科学任务。然而，尚未研究具有此类船上自治能力的经营任务的挑战，这是足以在使命概念中考虑的细节水平。这些自主功能需要更改当前的操作流程，实践和工具。我们制定了一个案例研究，以评估使运营商和科学家通过促进地面人员和车载算法之间的共同模型来运营自主航天器所需的变化。我们评估使运营商和科学家能够向航天器传达所需的新的操作工具和工作流程，并能够重建和解释船上和航天器状态的决定。这些工具的模型用于用户学习，了解过程和工具在实现共享理解框架方面的有效性，以及在运营商和科学家有效实现特派团科学目标的能力。

即将开发我们呼叫所体现的系统的新一代越来越自主和自学习系统。在将这些系统部署到真实上下文中，我们面临各种工程挑战，因为它以有益的方式协调所体现的系统的行为至关重要，确保他们与我们以人为本的社会价值观的兼容性，并且设计可验证安全可靠的人类-Machine互动。我们正在争辩说，引发系统工程将来自嵌入到体现系统的温室，并确保动态联合的可信度，这种情况意识到的情境意识，意图，探索，探险，不断发展，主要是不可预测的，越来越自主的体现系统在不确定，复杂和不可预测的现实世界环境中。我们还识别了许多迫切性的系统挑战，包括可信赖的体现系统，包括强大而人为的AI，认知架构，不确定性量化，值得信赖的自融化以及持续的分析和保证。

移动服务机器人变得越来越无处不在。但是，这些机器人可能对视觉障碍者（PVI）提出潜在的可访问性问题和安全问题。我们试图探索PVI在主流移动服务机器人方面面临的挑战，并确定其需求。对他们在三个新兴机器人的经历进行了采访，接受了17个PVI：真空机器人，送货机器人和无人机。我们通过考虑其围绕机器人的不同角色（直接用户和旁观者）来全面研究PVI的机器人体验。我们的研究强调了参与者对移动服务机器人访问性，安全性和隐私问题的挑战和担忧。我们发现缺乏可访问的反馈使PVI难以精确控制，定位和跟踪机器人的状态。此外，遇到移动机器人时，旁观者感到困惑，甚至吓到参与者，并呈现安全性和隐私障碍。我们进一步提炼设计注意事项，以提供PVI的更容易访问和安全的机器人。

本文对人机对象切换的文献进行了调查。切换是一种协作的关节动作，其中代理人，给予者，给予对象给另一代理，接收器。当接收器首先与给予者持有的对象并结束时，当给予者完全将物体释放到接收器时，物理交换开始。然而，重要的认知和物理过程在物理交换之前开始，包括在交换的位置和时间内启动隐含协议。从这个角度来看，我们将审核构成了上述事件界定的两个主要阶段：1）预切换阶段和2）物理交流。我们专注于两位演员（Giver和Receiver）的分析，并报告机器人推动者（机器人到人类切换）和机器人接收器（人到机器人切换）的状态。我们举报了常用于评估互动的全面的定性和定量度量列表。虽然将我们的认知水平（例如，预测，感知，运动规划，学习）和物理水平（例如，运动，抓握，抓取释放）的审查重点，但我们简要讨论了安全的概念，社会背景，和人体工程学。我们将在人对人物助手中显示的行为与机器人助手的最新进行比较，并确定机器人助剂的主要改善领域，以达到与人类相互作用相当的性能。最后，我们提出了一种应使用的最小度量标准，以便在方法之间进行公平比较。

情绪可以提供自然的交流方式，以补充许多领域中社交机器人（例如文本和语音）现有的多模式能力。我们与112、223和151名参与者进行了三项在线研究，以调查使用情绪作为搜救（SAR）机器人的交流方式的好处。在第一个实验中，我们研究了通过机器人的情绪传达与SAR情况有关的信息的可行性，从而导致了从SAR情况到情绪的映射。第二项研究使用控制控制理论是推导此类映射的替代方法。此方法更灵活，例如允许对不同的情绪集和不同机器人进行调整。在第三个实验中，我们使用LED作为表达通道为外观受限的室外现场研究机器人创建了情感表达。在各种模拟的SAR情况下，使用这些情感表达式，我们评估了这些表达式对参与者（采用救援人员的作用）的影响。我们的结果和提议的方法提供了（a）有关情感如何帮助在SAR背景下传达信息的见解，以及（b）在（模拟）SAR通信环境中添加情绪为传播方式的有效性的证据。

讨论了与科学，工程，建筑和人为因素相关的月球表面上的运输设施问题。未来十年制造的后勤决策可能对财务成功至关重要。除了概述一些问题及其与数学和计算的关系外，本文还为决策者，科学家和工程师提供了有用的资源。

本报告介绍了Waymo关于系统疲劳风险管理框架的建议，该框架解决了在ADS技术的公路测试期间疲劳诱导的风险的预防，监测和缓解。所提出的框架仍然可以灵活地纳入持续的改进，并受到最先进的实践，研究，学习和经验的信息（内部和外部的Waymo）。疲劳是涉及人类驾驶员的大部分公路撞车事故的公认因素，缓解疲劳引起的风险仍然是全球研究的公开关注。虽然提出的框架是专门针对SAE 4级广告技术的公路测试而设计的，但它对较低的自动化也具有含义和适用性。

Recent work pre-training Transformers with self-supervised objectives on large text corpora has shown great success when fine-tuned on downstream NLP tasks including text summarization. However, pre-training objectives tailored for abstractive text summarization have not been explored. Furthermore there is a lack of systematic evaluation across diverse domains. In this work, we propose pre-training large Transformer-based encoder-decoder models on massive text corpora with a new selfsupervised objective. In PEGASUS, important sentences are removed/masked from an input document and are generated together as one output sequence from the remaining sentences, similar to an extractive summary. We evaluated our best PEGASUS model on 12 downstream summarization tasks spanning news, science, stories, instructions, emails, patents, and legislative bills. Experiments demonstrate it achieves state-of-the-art performance on all 12 downstream datasets measured by ROUGE scores. Our model also shows surprising performance on low-resource summarization, surpassing previous state-of-the-art results on 6 datasets with only 1000 examples. Finally we validated our results using human evaluation and show that our model summaries achieve human performance on multiple datasets.

Intelligent agents have great potential as facilitators of group conversation among older adults. However, little is known about how to design agents for this purpose and user group, especially in terms of agent embodiment. To this end, we conducted a mixed methods study of older adults' reactions to voice and body in a group conversation facilitation agent. Two agent forms with the same underlying artificial intelligence (AI) and voice system were compared: a humanoid robot and a voice assistant. One preliminary study (total n=24) and one experimental study comparing voice and body morphologies (n=36) were conducted with older adults and an experienced human facilitator. Findings revealed that the artificiality of the agent, regardless of its form, was beneficial for the socially uncomfortable task of conversation facilitation. Even so, talkative personality types had a poorer experience with the "bodied" robot version. Design implications and supplementary reactions, especially to agent voice, are also discussed.

Incivility remains a major challenge for online discussion platforms, to such an extent that even conversations between well-intentioned users can often derail into uncivil behavior. Traditionally, platforms have relied on moderators to -- with or without algorithmic assistance -- take corrective actions such as removing comments or banning users. In this work we propose a complementary paradigm that directly empowers users by proactively enhancing their awareness about existing tension in the conversation they are engaging in and actively guides them as they are drafting their replies to avoid further escalation. As a proof of concept for this paradigm, we design an algorithmic tool that provides such proactive information directly to users, and conduct a user study in a popular discussion platform. Through a mixed methods approach combining surveys with a randomized controlled experiment, we uncover qualitative and quantitative insights regarding how the participants utilize and react to this information. Most participants report finding this proactive paradigm valuable, noting that it helps them to identify tension that they may have otherwise missed and prompts them to further reflect on their own replies and to revise them. These effects are corroborated by a comparison of how the participants draft their reply when our tool warns them that their conversation is at risk of derailing into uncivil behavior versus in a control condition where the tool is disabled. These preliminary findings highlight the potential of this user-centered paradigm and point to concrete directions for future implementations.

自动化驾驶系统（广告）开辟了汽车行业的新领域，为未来的运输提供了更高的效率和舒适体验的新可能性。然而，在恶劣天气条件下的自主驾驶已经存在，使自动车辆（AVS）长时间保持自主车辆（AVS）或更高的自主权。本文评估了天气在分析和统计方式中为广告传感器带来的影响和挑战，并对恶劣天气条件进行了解决方案。彻底报道了关于对每种天气的感知增强的最先进技术。外部辅助解决方案如V2X技术，当前可用的数据集，模拟器和天气腔室的实验设施中的天气条件覆盖范围明显。通过指出各种主要天气问题，自主驾驶场目前正在面临，近年来审查硬件和计算机科学解决方案，这项调查概述了在不利的天气驾驶条件方面的障碍和方向的障碍和方向。

There has been a recent resurgence in the area of explainable artificial intelligence as researchers and practitioners seek to make their algorithms more understandable. Much of this research is focused on explicitly explaining decisions or actions to a human observer, and it should not be controversial to say that looking at how humans explain to each other can serve as a useful starting point for explanation in artificial intelligence. However, it is fair to say that most work in explainable artificial intelligence uses only the researchers' intuition of what constitutes a 'good' explanation. There exists vast and valuable bodies of research in philosophy, psychology, and cognitive science of how people define, generate, select, evaluate, and present explanations, which argues that people employ certain cognitive biases and social expectations towards the explanation process. This paper argues that the field of explainable artificial intelligence should build on this existing research, and reviews relevant papers from philosophy, cognitive psychology/science, and social psychology, which study these topics. It draws out some important findings, and discusses ways that these can be infused with work on explainable artificial intelligence.