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SEAN-VR: An Immersive Virtual Reality Experience for Evaluating Social Robot Navigation SEAN-VR:用于评估社交机器人导航的沉浸式虚拟现实体验
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580039
Qiping Zhang, Nathan Tsoi, Marynel Vázquez
We propose a demonstration of the Social Environment for Autonomous Navigation with Virtual Reality (VR) for advancing research in Human-Robot Interaction. In our demonstration, a user controls a virtual avatar in simulation and performs directed navigation tasks with a mobile robot in a warehouse environment. Our demonstration shows how researchers can leverage the immersive nature of VR to study robot navigation from a user-centered perspective in densely populated environments while avoiding physical safety concerns common with operating robots in the real world. This is important for studying interactions with robots driven by algorithms that are early in their development lifecycle.
我们提出了一个虚拟现实(VR)自主导航的社会环境演示,以推进人机交互的研究。在我们的演示中,用户在模拟中控制虚拟化身,并在仓库环境中使用移动机器人执行定向导航任务。我们的演示展示了研究人员如何利用VR的沉浸式本质,在人口密集的环境中从以用户为中心的角度研究机器人导航,同时避免现实世界中操作机器人常见的物理安全问题。这对于研究与处于开发生命周期早期的算法驱动的机器人的交互非常重要。
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引用次数: 1
Nudging or Waiting?: Automatically Synthesized Robot Strategies for Evacuating Noncompliant Users in an Emergency Situation 推动还是等待?:紧急情况下疏散不服从用户的自动合成机器人策略
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568162.3576955
Yuhan Hu, Jin Ryu, David Gundana, Kirstin H. Petersen, H. Kress-Gazit, G. Hoffman
Robots have the potential to assist in emergency evacuation tasks, but it is not clear how robots should behave to evacuate people who are not fully compliant, perhaps due to panic or other priorities in an emergency. In this paper, we compare two robot strategies: an actively nudging robot that initiates evacuation and pulls toward the exit and a passively waiting robot that stays around users and waits for instruction. Both strategies were automatically synthesized from a description of the desired behavior. We conduct a within participant study ( = 20) in a simulated environment to compare the evacuation effectiveness between the two robot strategies. Our results indicate an advantage of the nudging robot for effective evacuation when being exposed to the evacuation scenario for the first time. The waiting robot results in lower efficiency, higher mental load, and more physical conflicts. However, participants like the waiting robots equally or slightly more when they repeat the evacuation scenario and are more familiar with the situation. Our qualitative analysis of the participants' feedback suggests several design implications for future emergency evacuation robots.
机器人有潜力协助紧急疏散任务,但目前尚不清楚机器人应该如何疏散那些在紧急情况下可能由于恐慌或其他优先事项而不完全服从的人。在本文中,我们比较了两种机器人策略:主动推动机器人启动疏散并向出口拉,被动等待机器人留在用户周围并等待指令。这两种策略都是根据期望行为的描述自动合成的。我们在模拟环境中进行了参与者内部研究(= 20),以比较两种机器人策略之间的疏散效果。我们的研究结果表明,在第一次暴露于疏散场景时,轻推机器人具有有效疏散的优势。等待机器人导致效率降低,精神负荷增加,身体冲突增多。然而,当参与者重复疏散场景并对情况更熟悉时,他们对等待的机器人的喜爱程度相同或略高。我们对参与者反馈的定性分析为未来紧急疏散机器人的设计提供了一些启示。
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引用次数: 0
The Eye of the Robot Beholder: Ethical Risks of Representation, Recognition, and Reasoning over Identity Characteristics in Human-Robot Interaction 机器人观察者之眼:人机交互中身份特征的表征、识别和推理的伦理风险
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580031
T. Williams
Significant segments of the HRI literature rely on or promote the ability to reason about human identity characteristics, including age, gender, and cultural background. However, attempting to handle identity characteristics raises a number of critical ethical concerns, especially given the spatiotemporal dynamics of these characteristics. In this paper I question whether human identity characteristics can and should be represented, recognized, or reasoned about by robots, with special attention paid to the construct of race, due to its relative lack of consideration within the HRI community. As I will argue, while there are a number of well-warranted reasons why HRI researchers might want to enable robotic consideration of identity characteristics, these reasons are outweighed by a number of key ontological, perceptual, and deployment-oriented concerns. This argument raises troubling questions as to whether robots should even be able to understand or generate descriptions of people, and how they would do so while avoiding these ethical concerns. Finally, I conclude with a discussion of what this means for the HRI community, in terms of both algorithm and robot design, and speculate as to possible paths forward.
人力资源研究文献的重要部分依赖或促进推理人类身份特征的能力,包括年龄、性别和文化背景。然而,试图处理身份特征引起了一些关键的伦理问题,特别是考虑到这些特征的时空动态。在本文中,我质疑人类的身份特征是否可以而且应该由机器人来代表、识别或推理,并特别关注种族的构建,因为它在HRI社区中相对缺乏考虑。正如我将要论证的那样,尽管HRI研究人员可能希望机器人考虑身份特征有许多充分的理由,但这些理由被一些关键的本体论、感知和面向部署的担忧所压倒。这一论点提出了一些令人不安的问题,比如机器人是否应该能够理解或生成对人的描述,以及它们如何在避免这些伦理问题的同时做到这一点。最后,我将讨论这对HRI社区的意义,包括算法和机器人设计,并推测可能的发展路径。
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引用次数: 0
Development of a University Guidance and Information Robot 高校指导信息机器人的研制
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580138
A. Blair, M. Foster
We are developing a social robot that will be deployed in a large, recently-built university building designed for learning and teaching. We outline the design process for this robot, which has included consultations with stakeholders including members of university services, students and other visitors to the building, as well as members of the "Reach Out'' team who normally provide in-person support in the building. These consultations have resulted in a clear specification of the desired robot functionality, which will combine central helpdesk queries with local information about the building and the surrounding university campus. We outline the technical components that will be used to develop the robot system, and also describe how the success of the deployed robot will be evaluated.
我们正在开发一种社交机器人,它将被部署在一座最近建成的大型大学建筑中,该建筑是为学习和教学而设计的。我们概述了这个机器人的设计过程,其中包括与利益相关者的协商,包括大学服务人员、学生和其他建筑物访客,以及通常在建筑物中提供亲自支持的“Reach Out”团队成员。这些磋商产生了对所需机器人功能的明确规范,它将把中央帮助台查询与有关建筑物和周围大学校园的本地信息结合起来。我们概述了将用于开发机器人系统的技术组件,并描述了如何评估部署机器人的成功。
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引用次数: 1
Human-Robot Conversational Interaction (HRCI) 人机会话交互(HRCI)
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3579954
Donald Mcmillan, Razan N. Jaber, Benjamin R. Cowan, J. Fischer, Bahar Irfan, Ronald Cumbal, Nima Zargham, Minha Lee
Conversation is one of the primary methods of interaction between humans and robots. It provides a natural way of communication with the robot, thereby reducing the obstacles that can be faced through other interfaces (e.g., text or touch) that may cause difficulties to certain populations, such as the elderly or those with disabilities, promoting inclusivity in Human-Robot Interaction (HRI). Work in HRI has contributed significantly to the design, understanding and evaluation of human-robot conversational interactions. Concurrently, the Conversational User Interfaces (CUI) community has developed with similar aims, though with a wider focus on conversational interactions across a range of devices and platforms. This workshop aims to bring together the CUI and HRI communities through a one-day workshop to outline key shared opportunities and challenges in developing conversational interactions with robots, resulting in collaborative publications targeted at the CUI 2023 provocations track.
对话是人与机器人交互的主要方式之一。它提供了一种与机器人交流的自然方式,从而减少了通过其他界面(例如文本或触摸)可能对某些人群(如老年人或残疾人)造成困难的障碍,从而促进了人机交互(HRI)的包容性。人力资源研究所的工作对人机对话交互的设计、理解和评估做出了重大贡献。与此同时,会话用户界面(CUI)社区也以类似的目标发展起来,尽管它更广泛地关注跨一系列设备和平台的会话交互。本次研讨会旨在通过为期一天的研讨会将CUI和HRI社区聚集在一起,概述在发展与机器人的对话互动方面的关键共同机遇和挑战,从而产生针对CUI 2023挑衅轨道的合作出版物。
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引用次数: 0
Social Robotics meets Sociolinguistics: Investigating Accent Bias and Social Context in HRI 社会机器人学与社会语言学:调查HRI中的口音偏见与社会语境
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580063
M. Foster, J. Stuart-Smith
Deploying a social robot in the real world means that it must interact with speakers from diverse backgrounds, who in turn are likely to show substantial accent and dialect variation. Linguistic variation in social context has been well studied in human-human interaction; however, the influence of these factors on human interactions with digital agents, especially embodied agents such as robots, has received less attention. Here we present an ongoing project where the goal is to develop a social robot that is suitable for deployment in ethnically-diverse areas with distinctive regional accents. To help in developing this robot, we carried out an online survey of Scottish adults to understand their expectations for conversational interaction with a robot. The results confirm that social factors constraining accent and dialect are likely to be significant issues for human-robot interaction in this context, and so must be taken into account in the design of the system at all levels.
在现实世界中部署社交机器人意味着它必须与来自不同背景的说话者互动,而这些人可能会表现出大量的口音和方言差异。在人际交往中,社会语境中的语言变异已经得到了很好的研究;然而,这些因素对人类与数字代理(尤其是机器人等具身代理)互动的影响却很少受到关注。在这里,我们提出了一个正在进行的项目,其目标是开发一种适合在具有独特地域口音的种族多样化地区部署的社交机器人。为了帮助开发这个机器人,我们对苏格兰成年人进行了一项在线调查,以了解他们对与机器人对话互动的期望。结果证实,在这种情况下,限制口音和方言的社会因素可能是人机交互的重要问题,因此必须在所有级别的系统设计中加以考虑。
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引用次数: 4
Towards Robot Learning from Spoken Language 从口语中学习机器人
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580053
K. Kodur, Manizheh Zand, Maria Kyrarini
The paper proposes a robot learning framework that empowers a robot to automatically generate a sequence of actions from unstructured spoken language. The robot learning framework was able to distinguish between instructions and unrelated conversations. Data were collected from 25 participants, who were asked to instruct the robot to perform a collaborative cooking task while being interrupted and distracted. The system was able to identify the sequence of instructed actions for a cooking task with an accuracy of of 92.85 ± 3.87%.
本文提出了一种机器人学习框架,使机器人能够从非结构化的口语中自动生成一系列动作。机器人学习框架能够区分指令和不相关的对话。研究人员从25名参与者那里收集了数据,他们被要求在被打断和分心的情况下指导机器人完成一项协作烹饪任务。该系统能够识别烹饪任务的指示动作序列,准确率为92.85±3.87%。
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引用次数: 1
Understanding Differences in Human-Robot Teaming Dynamics between Deaf/Hard of Hearing and Hearing Individuals 理解聋人/重听人与正常人之间人-机器人团队动态的差异
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580146
A'di Dust, Carola Gonzalez-Lebron, Shannon Connell, Saurav Singh, Reynold Bailey, Cecilia Ovesdotter Alm, Jamison Heard
With the development of industry 4.0, more collaborative robots are being implemented in manufacturing environments. Hence, research in human-robot interaction (HRI) and human-cobot interaction (HCI) is gaining traction. However, the design of how cobots interact with humans has typically focused on the general able-bodied population, and these interactions are sometimes ineffective for specific groups of users. This study's goal is to identify interactive differences between hearing and deaf and hard of hearing individuals when interacting with cobots. Understanding these differences may promote inclusiveness by detecting ineffective interactions, reasoning why an interaction failed, and adapting the framework's interaction strategy appropriately.
随着工业4.0的发展,更多的协作机器人正在制造环境中实施。因此,人机交互(HRI)和人机协作交互(HCI)的研究越来越受到关注。然而,协作机器人如何与人类互动的设计通常集中在一般健全的人群上,这些互动有时对特定的用户群体无效。这项研究的目的是确定听力正常、失聪和听力障碍个体在与协作机器人互动时的互动差异。了解这些差异可以通过检测无效的交互、推断交互失败的原因以及适当地调整框架的交互策略来促进包容性。
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引用次数: 0
Implications of AI Bias in HRI: Risks (and Opportunities) when Interacting with a Biased Robot 人工智能偏见在HRI中的含义:与有偏见的机器人互动时的风险(和机遇)
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568162.3576977
Tom Hitron, Noa Morag Yaar, H. Erel
Social robotic behavior is commonly designed using AI algorithms which are trained on human behavioral data. This training process may result in robotic behaviors that echo human biases and stereotypes. In this work, we evaluated whether an interaction with a biased robotic object can increase participants' stereotypical thinking. In the study, a gender-biased robot moderated debates between two participants (man and woman) in three conditions: (1) The robot's behavior matched gender stereotypes (Pro-Man); (2) The robot's behavior countered gender stereotypes (Pro-Woman); (3) The robot's behavior did not reflect gender stereotypes and did not counter them (No-Preference). Quantitative and qualitative measures indicated that the interaction with the robot in the Pro-Man condition increased participants' stereotypical thinking. In the No-Preference condition, stereotypical thinking was also observed but to a lesser extent. In contrast, when the robot displayed counter-biased behavior in the Pro-Woman condition, stereotypical thinking was eliminated. Our findings suggest that HRI designers must be conscious of AI algorithmic biases, as interactions with biased robots can reinforce implicit stereotypical thinking and exacerbate existing biases in society. On the other hand, counter-biased robotic behavior can be leveraged to support present efforts to address the negative impact of stereotypical thinking.
社交机器人的行为通常是用人工智能算法设计的,这些算法是根据人类行为数据训练的。这种训练过程可能会导致机器人的行为与人类的偏见和刻板印象相呼应。在这项工作中,我们评估了与有偏见的机器人物体的互动是否会增加参与者的刻板思维。在研究中,一个性别偏见的机器人在三种情况下主持两名参与者(男性和女性)之间的辩论:(1)机器人的行为符合性别刻板印象(亲男);(2)机器人的行为打破了性别刻板印象(Pro-Woman);(3)机器人的行为不反映性别刻板印象,也不对抗性别刻板印象(No-Preference)。定量和定性测量表明,亲人条件下与机器人的互动增加了被试的刻板思维。在无偏好条件下,也观察到刻板思维,但程度较轻。相比之下,当机器人在亲女性条件下表现出反偏见行为时,刻板印象被消除了。我们的研究结果表明,人力资源研究所的设计者必须意识到人工智能算法的偏见,因为与有偏见的机器人的互动会强化内隐的刻板思维,加剧社会中现有的偏见。另一方面,反偏见的机器人行为可以用来支持当前解决刻板印象思维的负面影响的努力。
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引用次数: 3
Who to Teach a Robot to Facilitate Multi-party Social Interactions? 谁教机器人促进多方社会互动?
IF 5.1 Q2 Computer Science Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580056
Jouh Yeong Chew, Keisuke Nakamura
One salient function of social robots is to play the role of facilitator to enhance the harmony state of multi-party social interactions so that every human participant is encouraged and motivated to engage actively. However, it is challenging to handcraft the behavior of social robots to achieve this objective. One promising approach is for the robot to learn from human teachers. This paper reports the findings of an empirical test to determine the optimal experiment condition for a robot to learn verbal and nonverbal strategies to facilitate a multi-party interaction. First, the modified L8 Orthogonal Array (OA) is used to design a fractional factorial experiment condition using factors like the type of human facilitator, group size and stimulus type. The response of OA is the harmony state explicitly defined using the speech turn-taking between speakers and represented using metrics extracted from the first order Markov transition matrix. Analyses of Main Effects and ANOVA suggest the type of human facilitator and group size are significant factors affecting the harmony state. Therefore, we propose the optimal experiment condition to train a facilitator robot using high school teachers as human teachers and group size larger than four participants.
社交机器人的一个突出功能是扮演促进者的角色,增强多方社会互动的和谐状态,从而鼓励和激励每个人类参与者积极参与。然而,手工制作社交机器人的行为来实现这一目标是具有挑战性的。一种很有希望的方法是让机器人向人类老师学习。本文报告了一项实证测试的结果,以确定机器人学习语言和非语言策略以促进多方互动的最佳实验条件。首先,利用改进的L8正交阵列(OA)设计分数析因实验条件,考虑人的引导者类型、群体规模和刺激类型等因素。OA的响应是使用说话者之间的语音轮流显式定义的和谐状态,并使用从一阶马尔可夫转移矩阵中提取的度量来表示。主效应分析和方差分析表明,协调人类型和团队规模是影响和谐状态的重要因素。因此,我们提出了以高中教师为真人教师,团队规模大于4人,训练引导员机器人的最佳实验条件。
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引用次数: 0
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ACM Transactions on Human-Robot Interaction
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