GhostAR: A Time-space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality Article Swipe

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Yuanzhi Cao , Tianyi Wang , Xun Qian , Pawan S. Rao , Manav Wadhawan , Ke Huo , Karthik Ramani ·

YOU? · · 2019 · Open Access · · DOI: https://doi.org/10.1145/3332165.3347902

We present GhostAR, a time-space editor for authoring and acting Human-Robot-Collaborative (HRC) tasks in-situ. Our system adopts an embodied authoring approach in Augmented Reality (AR), for spatially editing the actions and programming the robots through demonstrative role-playing. We propose a novel HRC workflow that externalizes user's authoring as demonstrative and editable AR ghost, allowing for spatially situated visual referencing, realistic animated simulation, and collaborative action guidance. We develop a dynamic time warping (DTW) based collaboration model which takes the real-time captured motion as inputs, maps it to the previously authored human actions, and outputs the corresponding robot actions to achieve adaptive collaboration. We emphasize an in-situ authoring and rapid iterations of joint plans without an offline training process. Further, we demonstrate and evaluate the effectiveness of our workflow through HRC use cases and a three-session user study.

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Computer Science

Human–Computer Interaction

Artificial Intelligence

Concepts

Computer science Workflow Human–computer interaction Dynamic time warping Embodied cognition Demonstrative Session (web analytics) Task (project management) Robot Process (computing) Augmented reality Situated Action (physics) Multimedia Artificial intelligence World Wide Web Programming language Database Linguistics Economics Philosophy Quantum mechanics Management Physics

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Type: article
Language: en
Landing Page: https://doi.org/10.1145/3332165.3347902
PDF: https://dl.acm.org/doi/pdf/10.1145/3332165.3347902
OA Status: gold
Cited By: 66
References: 53
Related Works: 10
OpenAlex ID: https://openalex.org/W2981149162

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DOI: https://doi.org/10.1145/3332165.3347902

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Title: GhostAR: A Time-space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality

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Type: article

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Language: en

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Publication year: 2019

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Publication date: 2019-10-17

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Authors: Yuanzhi Cao, Tianyi Wang, Xun Qian, Pawan S. Rao, Manav Wadhawan, Ke Huo, Karthik Ramani

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Landing page: https://doi.org/10.1145/3332165.3347902

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Concepts: Computer science, Workflow, Human–computer interaction, Dynamic time warping, Embodied cognition, Demonstrative, Session (web analytics), Task (project management), Robot, Process (computing), Augmented reality, Situated, Action (physics), Multimedia, Artificial intelligence, World Wide Web, Programming language, Database, Linguistics, Economics, Philosophy, Quantum mechanics, Management, Physics

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Cited by: 66

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Citations by year (recent): 2025: 14, 2024: 12, 2023: 16, 2022: 11, 2021: 11

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