Science Robotics

Supplementary Materials

The PDF file includes:

  • Text S1. Additional model results
  • Text S2. Additional materials and methods
  • Text S2.1. Model limitations
  • Text S2.2. Training details of embodied haptic model
  • Text S2.3. Details on tactile glove
  • Text S2.4. Force visualization
  • Text S2.5. Additional human experiment details
  • Fig. S1. Additional generalization experiments on bottles augmented with different 3D-printed caps.
  • Fig. S2. Examples of estimated trends for testing and generalization haptic data.
  • Fig. S3. The confusion matrix of Δ across different bottles based on the haptic signals.
  • Fig. S4. An example of action grammars and grammar prefix trees used for parsing.
  • Fig. S5. An example of the GEP.
  • Fig. S6. Tactile glove hardware design.
  • Fig. S7. Qualitative trust question asked to human participants after observing two demonstrations of robot execution.
  • Fig. S8. Prediction accuracy question asked to human participants after each segment of the robot’s action sequence during the prediction phase of the experiment.
  • Table S1. Numerical results and SDs for human participant study.
  • Table S2. Network architecture and parameters of the autoencoder.
  • Table S3. Network architecture and parameters for robot to human embedding.
  • Table S4. Network architecture and parameters for action prediction.
  • Table S5. Hyperparameters used during training.
  • Table S6. Specifications of the computing platform used in the experiments.
  • Algorithm S1. Algorithm of the improved GEP for robot planning.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Example explanation video of full model shown to human participants.
  • Movie S2 (.mp4 format). Example haptic explanation video shown to human participants.
  • Movie S3 (.mp4 format). Example symbolic explanation video shown to human participants.
  • Movie S4 (.mp4 format). Example text explanation video shown to human participants.
  • Movie S5 (.mp4 format). Example baseline video shown to human participants.
  • Data S1. Final data files (.zip).
  • Code S1. Software files (.zip).

Files in this Data Supplement: