Human-Robot Interaction: “Robots Among Us”
Request for Proposals 2007

This RFP is now closed.

Background

The robots are coming! Actually, they are already here: witness the iRobot¹ vacuum cleaner in its 3^rd generation, launched in August 2007, and now joined by its sibling robots, a floor washer, a pool cleaner, and a rain gutter sweeper – the latter announced just last month. iRobot also produces defense and security robots, widely deployed in applications that are very different from consumer appliances. But iRobot represents just one of the manufacturers in the emerging new international mobile robotics field. This area is exploring new applications and new opportunities beyond the familiar industrial robots of the end of the 20^th century. Robots are increasingly among us, sharing our world, and it is important to understand how we and they can best interact.

It is in this climate that Microsoft launched its Robotics Studio² software platform for robotics applications in summer 2006. Microsoft Research has also accelerated its investments in supporting academic research in robotics technologies and applications³.

But robotics is far from a “solved problem”. Many challenges remain. A useful summary of the state of the art was recorded in IEEE Robotics & Automation Magazine earlier this year⁴. Of the nine distinct research workshops that led to that special issue, at least four covered aspects of a key theme in contemporary robotics research: Human-Robot Interaction (HRI).

HRI is one of the most challenging areas in realizing the potential of practical robots among us. As robot technology becomes more widely deployed in the human environment, the question of how people can best interact with, control, program, monitor, manage, work, play, and team with one or more robots, alone or together – to name just a few dimensions⁵ – becomes extremely challenging. There are two major international conference series devoted to this field (HRI and RO-MAN⁶), and HRI is a regular topic of papers at the major general robotics conferences and workshops. The National Science Foundation (NSF) in the United States recently highlighted HRI as a special “cross-cutting technical area” in their 2006 solicitation for Advancing Human-Centered Computing⁷. In October 2007, IEEE Transactions on Robotics published a special issue on HRI⁸. There is even a new dedicated research community site⁹.

For these reasons, HRI is the focus of attention in this Microsoft Research Request for Proposals (RFP). An RFP, of course, cannot “solve HRI”, but by focusing attention on some key questions, we believe the published research work arising from the RFP award winners over the coming years will lead to important steps forward in this exciting area that will benefit the entire robotics community.

Goals & Objectives

HRI is a large field with many active research projects in universities and other labs around the world. But much of the research to date has been focused on the robot and human somewhat in isolation from the broader computing environment around them. Our intention in this RFP is to focus attention on the general paradigm shift from “robots as tools” to “social robots”, and consider HRI in the context of the existence of a plethora of other computing devices deployed in the modern human environment, including PCs, Smartphones, and the World Wide Web.

We believe that successful research in this area will lead to such results as practical cognitive models of humans that could be used by the people who are programming robots in this rich information technology environment; tools that programmers could use to assert safe interactions between humans, robots, and these other computing devices; and software design patterns for adaptive human-robot interfaces in such an environment. We expect the state of the art to be raised such that robot developers, both in research and development contexts, will be better able to build robots that interact with humans in real-world environments, performing useful applications, safely, effectively, and efficiently. We even expect the results of this work could be useful to the general Human-Computer Interaction (HCI) field.

To scope this RFP we highlight the following research questions. We are soliciting proposals that address the first (mandatory) question, plus one or more of the optional questions in combination:

Mandatory: In the context of “social robots”, what are the useful roles of the Web (particularly Web services and browser-based applications), PC and/or other contemporary or next generation computing devices (e.g., ultra-mobile PCs, Tablet PCs, PDAs, Smartphones, game consoles, etc.) in the interplay between robot(s) and user(s)?

Optional:

• How should robots be designed and programmed so that they can interact safely with human beings of different ages and abilities?
• With what communication and cognition abilities should robots be endowed so that they can interact with human beings to perform useful tasks?
• What issues in sociability, emotion, and empathy are relevant to the human-robot interaction according to the task in hand, and how should these be addressed?
• What interface and interaction paradigms are most beneficial to performing the task in question, and how might these vary over time?
• What application scenarios are best suited to configurations that involve the Web, PC, and other computing devices, considering areas such as, but not restricted to: responding to emergencies; delivering healthcare; assisting the physically and/or mentally challenged; education support; entertainment and/or play; and increasing productivity in the home, laboratory, field, or workplace.

The specific research outputs expected of the projects awarded under this RFP in the context of the above scope include:

• A comprehensive description of the current state of the art and previous work in the context of the proposal.
• Hypotheses for extending the state of the art.
• Development of models, high-fidelity simulations, and preferably demonstrable hardware systems (including software) to implement the hypotheses.
• Evaluation of the hypotheses against benchmarks (e.g., trials and/or field deployments).
• Conclusions and recommendations for further work.
• Published results available unrestricted to the research community at large, including software such as services compatible with Microsoft Robotics Studio.

We recognize that contemporary HRI studies can be extremely complex, especially for “social robots”. We encourage researchers to build upon and extend existing robot infrastructures and systems where available, either within their own organizations or through collaborations – this RFP is not especially looking for unique new robot platforms built from scratch, which would be constraining in time and resources. However, if an applicant is able to do this, realistically and usefully, then such proposals will certainly be considered.

Likewise, extensive user trials and field deployments can be both costly and time-consuming. We acknowledge this and explicitly state in the proposal evaluation criteria that proposals must be commensurate with the total resources available to the applicant. Proposals including appropriate trials and deployments, and/or leveraging additional resources to achieve the proposed trials and deployments will be welcomed.

We have no preference regarding the specific field to which the robot application is applied, but the applications addressed should be compelling and have a manifest societal benefit, including potentially an economic benefit. As always, preference will be given to novelty, degree of innovation, and potential degree of impact.

Regarding implementation technology, as a major international software company we are pleased to make available a large range of applicable technologies, especially for advanced software development. This includes the Microsoft Robotics Studio with its large library of robot services. Our development tools are available for academic purposes and are often supported by extensive training and/or academic materials. Please see the Additional Resources section at the end of this document for more information.

The specific eligibility and evaluation criteria for this RFP are detailed below.

Awards

The total amount available under this request for proposals (RFP) is $500,000. Microsoft Research anticipates making approximately 7-10 awards averaging $50,000 with a maximum of $70,000 for any single award. All awards will be made in $US. Awards are generally made as unrestricted gifts to the institution. Outside the United States other local restrictions may apply to the terms of the award. For current policy regarding non-U.S. countries, please refer to http://research.microsoft.com/ur/us/fundingopps/faq.aspx

For all awards, payment of indirect costs (“overhead”) is not permitted.

Microsoft Research will take into account the reasonableness of the amount requested in any proposal in light of stated deliverables, local costs, etc., and reserves the right to fund proposals at an amount lower than requested if appropriate.

Awards are made for the purpose of seed-funding larger initiatives, proofs of concept, or demonstrations of feasibility. It is important to understand that funding will continue after the first year only in exceptional circumstances, and that the principal investigators should therefore make every effort to leverage Microsoft Research funds as one component of a diverse funding base in a larger or longer-running project.

Eligibility

Conditions of eligibility listed below will be strictly adhered to, so please read them carefully. Proposals not meeting all these criteria will not be considered.

• The proposing institution must be either:
  1. An accredited degree-granting college or university (or international equivalent) with non-profit status and awarding degrees at the baccalaureate level or above.
  2. A research institution with non-profit status.
• All qualifying institutions are eligible without regard for geographic location.
• An institution will be awarded a maximum of one gift per RFP, regardless of the number of proposals submitted from the institution. However, collaborative proposals embracing multiple groups across the organization are encouraged.
• Proposals that are incomplete, inaccurate, request funds in excess of the maximum award available, or are otherwise not responsive to the terms and conditions of this RFP will, at the sole discretion of Microsoft Research, be excluded from consideration.
• Proposals from or on behalf of persons participating in the evaluation process for this RFP will not be considered.
• Proposals should evidence a commitment to make all results arising from a funded project (including all intellectual property in those results) broadly available by either: (i) dedicating such results to the public domain; or (ii) making the results available under a non-restrictive license that allows modification and redistribution without any significant restrictions or conditions, including so-called “reach through” provisions that require publication of source code. An example of an acceptable license is the BSD license available at http://www.opensource.org/licenses/bsd-license.html, whereas the widely-used GPL and LGPL licenses are not acceptable. Further details of the Microsoft position on open source are available at http://www.microsoft.com/opensource/default.mspx.
• Proposals should further evidence willingness to contribute any resulting curriculum material to the MSDN Academic Alliance Repository at http://www.msdnaacr.net/curriculum/facetmain.aspx.
• The receiving institution must agree that awards made as unrestricted gifts, will not be subject to indirect costs or overhead charges and these may not be included in the budget for the proposed project.
• While the use of Microsoft technologies is not a condition of this RFP, any proposal relying exclusively on non-Microsoft technologies should provide a justification for why this must be the case. Please note that ordinary use of Microsoft Office applications will not be compelling in itself, although innovative uses of Office applications (or the use of development software such as Microsoft Robotics Studio, Popfly, SQLServer, Visual Studio, C#, .NET and Windows Presentation Foundation) are acceptable and encouraged. We are not able to provide support for the development of exclusively Java or Linux-based applications. Use of non-Microsoft applications on Windows, cross-platform development, and interoperability with other operating systems and applications are all encouraged.

Submission Process

Proposals will be accepted in electronic form only at http://microsoft.redwhale.com. Proposals submitted to Microsoft will not be returned. Microsoft cannot assume responsibility for the confidentiality of information in submitted proposals. Therefore, proposals should not contain information that is confidential, restricted or sensitive. Microsoft reserves the right to make public proposals that receive awards, except those portions containing budgetary or personally identifiable information.

The submission process includes two parts.

1. Brief summary and contact information. Applicants must provide full contact information for principal investigators, amount requested and a brief abstract. This information will be submitted through a web form as part of the submission process.
2. Complete proposal containing full detail on the proposed project. 7 pages maximum, 10pt. font or larger, double-spaced, in either Microsoft Word or PDF format.

Proposals should address each of the items listed below under separate numbered headings.

1. Problem Statement: What is the problem or curriculum area addressed by the proposal and why is it important? What is the potential contribution to the field of the project if successful? Cite relevant work in the field as appropriate.
2. Expected outcomes: What tangible assets, if any, will be created or produced as a result of the proposed project? How will the results of this project be disseminated to others?
3. Schedule: When is the project to be completed? What milestones will be used to measure progress of the project and when will they be completed? (If the project described is part of a larger ongoing research program, estimate the time for completion of this project only).
4. Use of Funds: Provide a high-level budget ($US) describing how the award will be used, including purchases of hardware or software, salaries, and other costs. Please note that, because awards are made as unrestricted gifts, Microsoft policy prohibits the payment of indirect cost (“overhead”).
5. Use of Microsoft Technologies: Describe the Microsoft tools and technologies (if any) to be used in this project. If software is to be developed, give details of the tools to be used, the number of software developers and the proposed timescale. Does the software to be developed require the incorporation of code from commercial or public-domain libraries? If so, please give details.
6. Related Research: Give a brief summary of the current state of the art in this field, including references where appropriate.
7. Dissemination and Evaluation: How will the results of this project be evaluated (if appropriate), and how will they be disseminated to others? Under what general license terms will the results be made available?
8. Other Support: Including other contributions to this project (cash, goods or services), if any, but not including such things as use of university facilities otherwise provided on an ongoing basis. Please note: authors of winning proposals will be required to submit an original letter on department letterhead certifying the commitment of any additional or matching support described in the proposal.
9. Qualifications of Principal Investigator: Include a brief description of any relevant prior research, teaching, publication, or other professional experience. A detailed vita or list of publications is not required.

Selection Process and Criteria

All proposals received will be reviewed by Microsoft Research and eligible proposals will be evaluated by a panel of subject-matter experts chosen by Microsoft Research. Based on evaluations by the review panel, Microsoft Research will select the most worthy proposals for funding. Microsoft Research reserves the right to fund winning proposals at an amount greater or less than the amount requested, up to the stated maximum amount for individual awards. Due to the volume of submissions, and for legal reasons, Microsoft Research cannot provide individual feedback on proposals that are not funded.

Authors (including co-investigators) of winning proposals will be required to grant Microsoft permission for the use of their name, image, institutional affiliation and related professional information in press releases or other forums for publication of their award. Microsoft Research may also request assistance with the preparation of posters, slides or other materials, and periodic reports on the status of funded projects.

Please do not submit any confidential materials to Microsoft.

All proposals will be evaluated based upon the following criteria:

1. Well-defined goals and objectives that, if achieved, have the potential to have a significant impact on [a specified research domain, computer science, computer science curriculum, the computing industry, etc.]
2. Potential for wide dissemination and use of intellectual property created, including specific plans for publications, conference presentations, distance learning, etc., as well as plans to distribute content in multiple formats or languages.
3. Ability to complete the project, including the adequacy of resources available, reasonableness of timelines, and number and qualifications of identified contributors.
4. Qualifications of principal investigator, including previous history of work in the area, successful completion of previous funded projects, teaching awards, books published, etc.
5. Use of Microsoft tools and technologies: proposals should clearly indicate the Microsoft tools and technologies to be used in the project, or if no such technologies can be used, a clear statement should be made why this is the case. Please note that use of the Microsoft Robotics Studio is strongly encouraged, as it provides a flexible and open environment for the development of re-usable services that can be shared with a growing community of robotics researchers, as well as a high fidelity simulator – please see the Additional Resources section below. Exclusivity to Microsoft technologies, including Robotics Studio, is not a requirement.
6. Leveraging of other resources: preferential consideration will be given to proposals utilizing additional sources of funding to build larger or longer-running projects and/or leveraging other projects or resources in the field.

Schedule and Deadlines

Please be advised that we are obligated to strictly adhere to the deadline date and time. The application system will not accept submissions after the deadline has expired. Exceptions to this policy cannot be granted. It is advisable to upload your submission well in advance of the deadline.

Additional Resources

Microsoft Developer Center
The Microsoft Developer Center (http://msdn.microsoft.com/) features a wide selection of software development tools and interfaces to enable researchers to plug into Internet services and applications. The MSDN Academic Alliance (MSDN AA) is available for students and faculty to get the latest software (http://msdn2.microsoft.com/en-us/academic/default.aspx).

Microsoft Robotics Studio
The Microsoft Robotics Studio (http://www.microsoft.com/robotics/) is a Windows-based environment for academic, hobbyist and commercial developers to easily create robotics applications across a wide variety of hardware. The software is a free download for research and non-commercial purposes. There are extensive on-line training materials available at the web site, including over 30 tutorials, videos, and an active online community for peer technical support. Academic courseware is also available in preview (at the time of writing). Current version is v1.5. RFP award winners will be informed of any forthcoming training and/or tutorial opportunities that arise during the course of the RFP period.

Microsoft Faculty Connection
This is our general portal for faculty (http://www.microsoft.com/education/facultyconnection/). It includes resources for technology news, customizable curriculum, free software downloads, and members-only community forums. In particular, please see the Academic Resource Center for relevant curriculum and training materials, supplementing the materials available at the other sites mentioned (http://www.microsoft.com/education/facultyconnection/ARC/ResourceCenter.aspx).

Please address any questions to “hrirfp [at] microsoft [dot] com”. Please put “Human Robot Interaction RFP” in the subject line of your e-mail message to ensure a prompt and proper response.

Notes

¹ iRobot is a registered trademark of iRobot Corporation, http://www.irobot.com/

² http://www.microsoft.com/robotics/

³ For example, see http://roboteducation.org/

⁴ IEEE Robotics & Automation Magazine, v14 n1, March 2007 – special issue on Grand Challenges of Robotics, based on workshops held at the Robotics: Science & Systems conference, 2006.

⁵ A proposed formal taxonomy is presented in “A Taxonomy for Human-Robot Interaction”, Holly Yanco & Jill Drury, AAAI Fall Symposium on Human-Robot Interaction, AAAI Technical Report FS-02-03, pp. 111 – 119, November 2002.

⁶ http://hri2007.org/ & http://www.ro-man2007.org/

⁷ NSF 06-572 – Information & Intelligent Systems: Advancing Human-Centered Computing, Information Integration & Informatics, and Robust Intelligence.

⁸ IEEE Transactions on Robotics, v23 n5, October 2007 – special issue on Human-Robot Interaction. The guest editorial by Cecilia Laschi, Cynthia Breazeal and Yasushi Nakauchi provides a neat summary of the state of the art and its history.

⁹ http://www.hriweb.org/

Microsoft Word version of this document