The workforce will need to continually upskill in order to meet the evolving demands of industry, especially working with robotic and autonomous systems. Current training methods are not scalable and do not adapt to the skills that learners already possess. In this work, we develop a system that automatically assesses learner skill in a quadrotor teleoperation task using temporal logic task specifications. This assessment is used to generate multimodal feedback based on the principles of effective formative feedback. Participants perceived the feedback positively. Those receiving formative feedback viewed the feedback as more actionable compared to receiving summary statistics. Participants in the multimodal feedback condition were more likely to achieve a safe landing and increased their safe landings more over the experiment compared to other feedback conditions. Finally, we identify themes to improve adaptive feedback and discuss and how training for complex psychomotor tasks can be integrated with learning theories.

This paper presents temporal behavior trees (TBT), a specification formalism inspired by behavior trees that are commonly used to program robotic applications. We then introduce the concept of trace segmentation, wherein given a TBT specification and a trace, we split the trace optimally into sub-traces that are associated with various portions of the TBT specification. Segmentation of a trace then serves to explain precisely how a trace satisfies or violates a specification, and which portions of a specification are actually violated. We introduce the syntax and semantics of TBT and compare their expressiveness in relation to temporal logic. Next, we define robustness semantics for TBT specification with respect to a trace. Rather than a Boolean interpretation, the robustness provides a real-valued numerical outcome that quantifies how close or far away a trace is from satisfying or violating a TBT specification. We show that computing the robustness of a trace also segments it into subtraces.Finally, we provide efficient approximations for computing robustness and segmentation for long traces with guarantees on the result.We demonstrate how segmentations are useful through applications such as understanding how novice users pilot an aerial vehicle through a sequence of waypoints in desktop experiments and the offline monitoring of automated lander for a drone on a ship. Our case studies demonstrate how TBT specification and segmentation can be used to understand and interpret complex behaviors of humans and automation in cyber-physical systems.

We present our tool for the segmentation of temporal behavior trees (TBT), a novel formalism for monitoring specifications. TBTs can be easily retrofitted to behavior trees, commonly used to program robotic applications. Our tool supports the robustness semantics of TBT and generates trace segmentations. In other words, given a TBT specification and a trace, it determines the optimal assignment of TBT nodes to sub-traces. To illustrate its application, we use the example of an autonomous ship deck landing. We showcase the user inputs required and demonstrate how the outputs can be interpreted to identify challenging task aspects, contributing to a comprehensive system analysis.

This study presents a novel video recommendation system for an algebra virtual learning environment (VLE) that leverages ideas and methods from engagement measurement, item response theory, and reinforcement learning. Following Vygotsky's Zone of Proximal Development (ZPD) theory, but considering low affect and high affect students separately, we developed a system of five categories of video recommendations: 1) Watch new video; 2) Review current topic video with a new tutor; 3) Review segment of current video with current tutor; 4) Review segment of current video with a new tutor; 5) Watch next video in curriculum sequence. The category of recommendation was determined by student scores on a quiz and a sensor-free engagement detection model. New video recommendations (i.e., category 1) were selected based on a novel reinforcement learning algorithm that takes input from an item response theory model. The recommendation system was evaluated in a large field experiment, both before and after school closures due to the COVID-19 pandemic. The results show evidence of effectiveness of the video recommendation algorithm during the period of normal school operations, but the effect disappears after school closures. Implications for teacher orchestration of technology for normal classroom use and periods of school closure are discussed.

Teachers, like everyone else, need objective reliable feedback in order to improve their effectiveness. However, developing a system for automated teacher feedback entails many decisions regarding data collection procedures, automated analysis, and presentation of feedback for reflection. We address the latter two questions by comparing two different machine learning approaches to automatically model seven features of teacher discourse (e.g., use of questions, elaborated evaluations). We compared a traditional open-vocabulary approach using n-grams and Random Forest classifiers with a state-of-the-art deep transfer learning approach for natural language processing (BERT). We found a tradeoff between data quantity and accuracy, where deep models had an advantage on larger datasets, but not for smaller datasets, particularly for variables with low incidence rates. We also compared the models based on the level of feedback granularity: utterance-level (e.g., whether an utterance is a question or a statement), class session-level proportions by averaging across utterances (e.g., question incidence score of 48%), and session-level ordinal feedback based on pre-determined thresholds (e.g., question asking score is medium [vs. low or high]) and found that BERT generally provided more accurate feedback at all levels of granularity. Thus, BERT appears to be the most viable approach to providing automatic feedback on teacher discourse provided there is sufficient data to fine tune the model.

Students using online learning environments need to effectively self-regulate their learning. However, with an absence of teacher-provided structure, students often resort to less effective, passive learning strategies versus constructive ones. We consider the potential benefits of interventions that promote retrieval practice – retrieving learned content from memory – which is an effective strategy for learning and retention. The goal is to nudge students towards completing short, formative quizzes when they are likely to succeed on those assessments. Towards this goal, we developed a machine-learning model using data from 32,685 students who used an online mathematics platform over an entire school year to prospectively predict scores on three-item assessments (N = 210,020) from interaction patterns up to 9 minutes before the assessment as well as Item Response Theory (IRT) estimates of student ability and quiz difficulty. These models achieved a student-independent correlation of 0.55 between predicted and actual scores on the assessments and outperformed IRT-only predictions (r = 0.34). Model performance was largely independent of the length of the analyzed window preceding a quiz. We discuss potential for future applications of the models to trigger dynamic interventions that aim to encourage students to engage with formative assessments rather than more passive learning strategies.

Like anyone, teachers need feedback to improve. Due to the high cost of human classroom observation, teachers receive infrequent feedback which is often more focused on evaluating performance than on improving practice. To address this critical barrier to teacher learning, we aim to provide teachers with detailed and actionable automated feedback. Towards this end, we developed an approach that enables teachers to easily record high-quality audio from their classes. Using this approach, teachers recorded 142 classroom sessions, of which 127 (89%) were usable. Next, we used speech recognition and machine learning to develop teacher-generalizable computer-scored estimates of key dimensions of teacher discourse. We found that automated models were moderately accurate when compared to human coders and that speech recognition errors did not influence performance. We conclude that authentic teacher discourse can be recorded and analyzed for automatic feedback. Our next step is to incorporate the automatic models into an interactive visualization tool that will provide teachers with objective feedback on the quality of their discourse.