10 - Human-Robot Interaction 1

Question 1

What is the definition of HRI?

Answer 1

A field of study dedicated to understanding, designing and evaluating robotic systems for use by or with humans

Question 2

What are 6 aspects of HRI?

Answer 2

Psychology
Human Factors
Sociology/Social Science
HCI
Computer Science
Mechatronics

Question 3

Why HRI in AMR?

Answer 3

Purpose of robotics (automation and replacing people)

Helping people (physical rehab, social therapy)

Tool for understanding people

Question 4

What is Anthropomorphism?

Answer 4

Tendency to attribute human characteristics to inanimate objects, animals and others with a view to helping us rationalise their actions

Question 5

What is the relationship of Anthropomorphism and HRI?

Answer 5

It should be embraced in HRI

Taking advantage of it rather than avoiding it

Question 6

What are 2 ways that Anthropomorphism can be applied to HRI?

Answer 6

Appearance and Behaviour

Question 7

What is Pareidolia?

Answer 7

Perceiving a familiar pattern (typically a face) when there is none

Question 8

What is the Uncanny Valley?

Answer 8

Increasing human likeness increases familiarity, however at a certain point, a sharp drop in familiarity results in revulsion

Question 9

What is the attribution of agency to robots?

Answer 9

If certain characteristics are present, people will naturally attribute agency to an inanimate object

Question 10

What are 2 modes of robot interaction?

Answer 10

Proximate and Remote

Question 11

What is Proximate robot interaction?

Answer 11

Human and robot are in the same space

Physical and social interactions fall in this category (service robots)

Question 12

What is Remote robot interaction?

Answer 12

Human and robot are in different locations

Teleoperation, supervised control

Question 13

What are the 2 type of robot interaction?

Answer 13

Explicit and Implicit

Question 14

What is Explicit robot interaction?

Answer 14

An action performed with the purpose of eliciting a reaction

Dialogue (asking a question)

Manipulation (handing over an object, or pointing)

Question 15

What is Implicit robot interaction?

Answer 15

Actions are modified due to presence of an other, but no reaction is expected

Navigation (avoiding humans in the way)

Question 16

Give an example of the potential overlap between explicit and implicit robot interaction?

Answer 16

Avoiding humans, but engaging in some strategies to encourage humans to move out of the way

Question 17

Give an example scenario of explicit interaction?

Answer 17

Robot and human face each other using the same workspace, human provides explicit instruction with gestures, robot performs actions and looks back at human

Human teaches names, attributes, affordances

Robot learns from speech and observation

Question 18

Give an example scenario of implicit interaction?

Answer 18

Robot navigates through a populated environment, humans change their behaviour, they stop and deviate path to avoid robot

Interaction not strictly necessary for navigation

Question 19

What are 2 parts to control?

Answer 19

Sensing, Decision Making, Acting

Question 20

How does human interaction link with robot sensing?

Answer 20

Taking humans into account adds significant difficult, people are not good at being reliable, meaning of underlying gestures and sensors suffer from noise

Question 21

What are 5 levels of autonomy? (in order)

Answer 21

Wizard of Oz

Scripted Robot Behaviour

Partial Autonomy

Supervised Autonomous Behaviour

Full Autonomy

Question 22

What is Wizard of Oz?

Answer 22

Remote control of a robotic system, or aspects of

Giving the impression of autonomy

Wizard is hidden from view or not obviously associated with control of robot

Typically used to stand in for technical aspects that are currently too difficult/unreliable/under test

Question 23

What does complete Wizard of Oz entail?

Answer 23

Full remote control of all aspects of behaviour

Question 24

What is Scripted Robot Behaviour?

Answer 24

Operator runs pre-scripted behaviours. Mediated teleoperation, reducing the workload on a wizarrd

Question 25

What is Partial Autonomy?

Answer 25

Hybrid autonomous/controlled system.

Testing subsystems of a robot control system

Shared autonomy - hand-off between robot and human team-mates (disaster scenarios)

Question 26

What is Supervised Autonomous Behaviour?

Answer 26

System acts autonomously but is supervised with human takeover in certainty

Guidance for a learning robot system

Question 27

What is Full Autonomy?

Answer 27

No human intervention

The typical goal for robot development, no requirement for human remote-controller present

Environment/context may require someone close by for safety

Question 28

What does full autonomy imply?

Answer 28

Capacity for adaption, suggests learning and adapting to environment

Question 29

What are the pros to Wizard of Oz?

Answer 29

Removes uncertainty

Focuses on evaluation of interaction rather than robot

Full control over robot behaviour

Repeatable experiment setup

Easier to implement

Question 30

What are the cons to Wizard of Oz?

Answer 30

Human-human interaction with a robot in the middle?

Not consistent

Question 31

What are the pros to Autonomy?

Answer 31

Study with state-of-the-art robot instead of dummy

Testing system robustness

How to replicate human like learning on a robot

Question 32

What are the cons to Autonomy?

Answer 32

High uncertainty

Not necessarily repeatable

High maintenance

Can be slow

Question 33

What does WoZ have no evaluation of that Autonomy does?

Answer 33

Perception

Reasoning

Learning

World Model

Action selection

Question 34

What is Theory of Mind?

Answer 34

The capacity of humans to attribute mental states to others and to oneself, and to understand that others may have different states than oneself

Question 35

What are the ethical issues to using robots?

Answer 35

Issue of deception?

Are we replacing social contact with other humans if we use these devices?

In the case of child therapy, are the problems made worse? (getting used to robot interaction rather than people)

Attachment to robots than humans

Data protection

Memory of prior interactions