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wysiwyd : What You Say Is What You Did

The WYSIWYD project will create a new transparency in human robot interaction (HRI) by allowing robots to both understand their own actions and those of humans, and to interpret and communicate these in human compatible intentional terms expressed as a language-like communication channel we call WYSIWYD Robotese (WR).

Citation and video demonstration

If you use parts of this work, please cite our paper in the IEEE Transactions on Cognitive and Developmental Systems:

@article{MoulinFrierFischerTCDS2017,
author={Clement Moulin-Frier and Tobias Fischer and Maxime Petit and Gregoire Pointeau and Jordi-Ysard Puigbo and Ugo Pattacini and Sock Ching Low and Daniel Camilleri and Phuong Nguyen and Matej Hoffmann and Hyung Jin Chang and Martina Zambelli and Anne-Laure Mealier and Andreas Damianou and Giorgio Metta and Tony J. Prescott and Yiannis Demiris and Peter Ford Dominey and Paul F. M. J. Verschure},
journal={IEEE Transactions on Cognitive and Developmental Systems},
title={{DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self}},
year={2017},
keywords={Cognitive Robotics;Distributed Adaptive Control;Human-Robot Interaction;Symbol Grounding;Autobiographical Memory},
pages={to appear},
}

The video demonstration can be found here.

Underlying software framework

The core library and modules within WYSIWYD were polished and have been updated in the iCub-HRI repository (along with an article published in the Frontiers in Robotics and AI). Please consider using the code in this repository as it is more up-to-date.

Documentation

Visit the official Project wiki for the software.

License

WYSIWYD software and documentation are distributed under the GPL. The full text of the license agreement can be found in: ./license/gpl.txt.

Please read this license carefully before using the WYSIWYD code.

CI Build

  • Linux: Build Status
  • Windows: Build status

Build

OpenCV-3.0.0 or higher is a required dependency to build iol2opc module (OpenCV-3.2.0 is recommended).

Build OpenCV-3.2.0

We need the new tracking features delivered with OpenCV-3.2.0:

  1. Download OpenCV-3.2.0: git clone https://github.com/Itseez/opencv.git.
  2. Checkout the correct branch: git checkout 3.2.0.
  3. Download the external modules: git clone https://github.com/Itseez/opencv_contrib.git.
  4. Checkout the correct branch: git checkout 3.2.0.
  5. Configure OpenCV by filling in the cmake var OPENCV_EXTRA_MODULES_PATH with the path pointing to opencv_contrib/modules and then toggling on the var BUILD_opencv_tracking.
  6. Compile OpenCV.

Build WYSIWYD

Configure the project:

  1. Fill in the cmake var OpenCV_DIR with the path to OpenCV-3.2.0 build.
  2. Compile wysiwyd.

Building notes

It might be the case that you have also to build kinect-wrapper with the new OpenCV library, as it was for me too. In particular, the setting I used foresees yarp, icub-main and all the other projects built with OpenCV-2.x.y, whereas wysiwyd along with kinect-wrapper built with OpenCV-3.2.0. This means that you can be perfectly working with two versions of the library available side by side. To ease compilation, I have also enabled the possibility to build only the client part of the kinect-wrapper (see updated instructions).