10 - Human-Robot Interaction 1 Flashcards
What is the definition of HRI?
A field of study dedicated to understanding, designing and evaluating robotic systems for use by or with humans
What are 6 aspects of HRI?
Psychology Human Factors Sociology/Social Science HCI Computer Science Mechatronics
Why HRI in AMR?
Purpose of robotics (automation and replacing people)
Helping people (physical rehab, social therapy)
Tool for understanding people
What is Anthropomorphism?
Tendency to attribute human characteristics to inanimate objects, animals and others with a view to helping us rationalise their actions
What is the relationship of Anthropomorphism and HRI?
It should be embraced in HRI
Taking advantage of it rather than avoiding it
What are 2 ways that Anthropomorphism can be applied to HRI?
Appearance and Behaviour
What is Pareidolia?
Perceiving a familiar pattern (typically a face) when there is none
What is the Uncanny Valley?
Increasing human likeness increases familiarity, however at a certain point, a sharp drop in familiarity results in revulsion
What is the attribution of agency to robots?
If certain characteristics are present, people will naturally attribute agency to an inanimate object
What are 2 modes of robot interaction?
Proximate and Remote
What is Proximate robot interaction?
Human and robot are in the same space
Physical and social interactions fall in this category (service robots)
What is Remote robot interaction?
Human and robot are in different locations
Teleoperation, supervised control
What are the 2 type of robot interaction?
Explicit and Implicit
What is Explicit robot interaction?
An action performed with the purpose of eliciting a reaction
Dialogue (asking a question)
Manipulation (handing over an object, or pointing)
What is Implicit robot interaction?
Actions are modified due to presence of an other, but no reaction is expected
Navigation (avoiding humans in the way)
Give an example of the potential overlap between explicit and implicit robot interaction?
Avoiding humans, but engaging in some strategies to encourage humans to move out of the way
Give an example scenario of explicit interaction?
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
Give an example scenario of implicit interaction?
Robot navigates through a populated environment, humans change their behaviour, they stop and deviate path to avoid robot
Interaction not strictly necessary for navigation
What are 2 parts to control?
Sensing, Decision Making, Acting
How does human interaction link with robot sensing?
Taking humans into account adds significant difficult, people are not good at being reliable, meaning of underlying gestures and sensors suffer from noise
What are 5 levels of autonomy? (in order)
Wizard of Oz
Scripted Robot Behaviour
Partial Autonomy
Supervised Autonomous Behaviour
Full Autonomy
What is Wizard of Oz?
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
What does complete Wizard of Oz entail?
Full remote control of all aspects of behaviour
What is Scripted Robot Behaviour?
Operator runs pre-scripted behaviours. Mediated teleoperation, reducing the workload on a wizarrd
What is Partial Autonomy?
Hybrid autonomous/controlled system.
Testing subsystems of a robot control system
Shared autonomy - hand-off between robot and human team-mates (disaster scenarios)
What is Supervised Autonomous Behaviour?
System acts autonomously but is supervised with human takeover in certainty
Guidance for a learning robot system
What is Full Autonomy?
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
What does full autonomy imply?
Capacity for adaption, suggests learning and adapting to environment
What are the pros to Wizard of Oz?
Removes uncertainty
Focuses on evaluation of interaction rather than robot
Full control over robot behaviour
Repeatable experiment setup
Easier to implement
What are the cons to Wizard of Oz?
Human-human interaction with a robot in the middle?
Not consistent
What are the pros to Autonomy?
Study with state-of-the-art robot instead of dummy
Testing system robustness
How to replicate human like learning on a robot
What are the cons to Autonomy?
High uncertainty
Not necessarily repeatable
High maintenance
Can be slow
What does WoZ have no evaluation of that Autonomy does?
Perception
Reasoning
Learning
World Model
Action selection
What is Theory of Mind?
The capacity of humans to attribute mental states to others and to oneself, and to understand that others may have different states than oneself
What are the ethical issues to using robots?
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
