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NOIR: Neural Signal Operated Intelligent Robots for Everyday Activities: Appendix 4

by EScholar: Electronic Academic Papers for ScholarsFebruary 16th, 2024

Too Long; Didn't Read

NOIR presents a groundbreaking BRI system enabling humans to control robots for real-world activities, but also raises concerns about decoding speed limitations and ethical risks. While challenges remain in skill library development, NOIR's potential in assistive technology and collaborative interaction signifies a significant step forward in human-robot collaboration.

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Authors:

(1) Ruohan Zhang, Department of Computer Science, Stanford University, Institute for Human-Centered AI (HAI), Stanford University & Equally contributed; [email protected];

(2) Sharon Lee, Department of Computer Science, Stanford University & Equally contributed; [email protected];

(3) Minjune Hwang, Department of Computer Science, Stanford University & Equally contributed; [email protected];

(4) Ayano Hiranaka, Department of Mechanical Engineering, Stanford University & Equally contributed; [email protected];

(5) Chen Wang, Department of Computer Science, Stanford University;

(6) Wensi Ai, Department of Computer Science, Stanford University;

(7) Jin Jie Ryan Tan, Department of Computer Science, Stanford University;

(8) Shreya Gupta, Department of Computer Science, Stanford University;

(9) Yilun Hao, Department of Computer Science, Stanford University;

(10) Ruohan Gao, Department of Computer Science, Stanford University;

(11) Anthony Norcia, Department of Psychology, Stanford University

(12) Li Fei-Fei, 1Department of Computer Science, Stanford University & Institute for Human-Centered AI (HAI), Stanford University;

(13) Jiajun Wu, Department of Computer Science, Stanford University & Institute for Human-Centered AI (HAI), Stanford University.

Table of Links

Abstract & Introduction

Brain-Robot Interface (BRI): Background

The NOIR System

Experiments

Results

Conclusion, Limitations, and Ethical Concerns

Acknowledgments & References

Appendix 1: Questions and Answers about NOIR

Appendix 2: Comparison between Different Brain Recording Devices

Appendix 3: System Setup

Appendix 4: Task Definitions

Appendix 5: Experimental Procedure

Appendix 6: Decoding Algorithms Details

Appendix 7: Robot Learning Algorithm Details

Appendix 4: Task Definitions

For systematic evaluation of task success, we provide formal definitions of our tasks in the format of BEHAVIOR Domain Definition Language (BDDL) language [69, 71]. BDDL is a predicate logic-based language that establishes a symbolic state representation built on predefined, meaningful predicates grounded in physical states [71]. Each task is defined in BDDL as an initial and goal condition parametrizing sets of possible initial states and satisfactory goal states, as shown in the figures at the end of the appendix. Compared to scene- or pose-specific definitions which are too restricted, BDDL is more intuitive to humans while providing concrete evaluation metrics for measuring task success.