11 - Human-Robot Interaction 2 Flashcards by Andrew Smith

What is engagement?

The process by which two or more participants establish, maintain and end their perceived connection during interactions they jointly undertake

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What behaviours does engagement encompass?

All types

Implicit/Explicit and Verbal/Non-verbal

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What are the 3 stages to engagement?

Establish, maintain and end

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What is establishing engagement?

Attracting attention, drawing into an ongoing interaction

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What are the 2 types of strategies for establishing engagement?

Social and Non-Social

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What are the 4 types of social strategy?

Speech, Gesture, Behaviour, Physical Interaction

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What are the 3 types of non-social strategy?

Sound, Vision, Behaviour

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What does maintaining engagement partially rely on?

Anthropomorphism and attribution of agency

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What does maintaining engagement motivate?

Incorporating cognitive architectures into HRI systems

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What is end engagement?

Ending the interaction, and hence any engagement in the interaction

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What can ending engagement be related to?

Task related (task has been completed successfully/unsuccessfully or is no longer relevant)

Personal related (illusion of agency has gone or boredom)

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What is a difficult task to do regarding engagement with HRI systems?

How to tell whether someone is engaged in an interaction

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What is one way of indicating engagement?

Gaze

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What is the difficult with using Gaze as an indicator of engagement?

It is often post-hoc analysis (in retrospect)

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What are the 3 goals of human-aware navigation?

Comfort, naturalness, socability

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What is comfort?

Absence of annoyance and stress for humans

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What is naturalness?

Similarity of robot behaviour to humans

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What is sociability?

Adherence to high-level cultural constraints

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What may be necessary to achieve the 3 goals of human-aware navigation?

Reducing efficiency (in terms of speed/distance to goal)

Why is Dijkstra not ideal?

Path close to obstacles, next to walls, not good for robots

How can we keep our robot safe?

If in corridor, drive in middle, keep distance from obstacles

Discuss robot distances and costs?

Robot centre point as point of rotation

Obstacles are lethal

Lethal obstacles are inflated based on the robot size

How do you use costs?

Costs are encoded into the cost-map for each obstacle

Using movement as part of the cost, use the cost of the relevant cells in the cost map to calculate the next neighbour

What are the 2 types of human-aware things?

Human-Robot Spatial Interaction and Human-Aware Navigation

What is Human-Robot spatial interaction?

The study of joint movement of robots and humans through space and the social signals governing these interactions

What is Human-Aware navigation?

Specifically taking the human into account

What are the 2 methods of Human-Aware Navigation?

Stop-and-wait: human does all the hard work Cost functions based on principles of proxemics

What are proxemics?

A virtual space around an individual Divided into four main zones Each zone at a different distance, and with different interaction characteristics

What are the 4 zones of proxemics?

Intimate, Personal, Social and Public

What is the distance for intimate space?

0-45cm

What is the distance for personal space?

45-120cm

What is the distance for social space?

1.2m-3.6m

What is the distance for public space?

> 3.6m

What type of interaction is there in intimate space?

Intimacy

What type of interaction is there in personal space?

Family and good friends

What type of interaction is there in social space?

Interactions with acquaintances/strangers

What type of interaction is there in public space?

Public speaking

What are 5 caveats of proxemics?

Dependent on culture Equal spacing around individual Does not take into account environmental conditions Enforced violations These zones may be applicable to humans, but do they apply to robots

How can you combine costmaps and proxemics?

Include costmaps as part of the human representation in the map

What is Gaussian Distribution and Proxemics?

Use standard deviation for Sigma Cut sigma off at 3, as theoretically infinite Set sigma to size of the intimate space Discretise continuous function Add to overall costmap

What are the positives to Gaussian cost functions?

Straightforward implementation Relevant for all environments Takes into account proxemics Ensures interaction is safe and perceived to be as such

What are the negatives to Gaussian cost functions?

Only influences distances Sociability and naturalness not guaranteed Does not take into account social context Works with Dijkstra (slow/inefficient)

What are 2 ways to test if a robot is successful?

Performance metrics Testing with real robots/simulations

What are the difficulties of testing a HRI system?

Humans are problems Humans are non-predictable, they come with prior expectations/experience

What are the steps to the scientific method of evaluation?

Generate testable predictions from a theory Perform experiment specifically generated to address the hypothesis Assess the experimental hypothesis Update/refine the founding theory as necessary

What are pilot/exploratory studies?

Can learn from studies that don't formally fit within the scientific method outlined