11 - Human-Robot Interaction 2 Flashcards
What is engagement?
The process by which two or more participants establish, maintain and end their perceived connection during interactions they jointly undertake
What behaviours does engagement encompass?
All types
Implicit/Explicit and Verbal/Non-verbal
What are the 3 stages to engagement?
Establish, maintain and end
What is establishing engagement?
Attracting attention, drawing into an ongoing interaction
What are the 2 types of strategies for establishing engagement?
Social and Non-Social
What are the 4 types of social strategy?
Speech, Gesture, Behaviour, Physical Interaction
What are the 3 types of non-social strategy?
Sound, Vision, Behaviour
What does maintaining engagement partially rely on?
Anthropomorphism and attribution of agency
What does maintaining engagement motivate?
Incorporating cognitive architectures into HRI systems
What is end engagement?
Ending the interaction, and hence any engagement in the interaction
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)
What is a difficult task to do regarding engagement with HRI systems?
How to tell whether someone is engaged in an interaction
What is one way of indicating engagement?
Gaze
What is the difficult with using Gaze as an indicator of engagement?
It is often post-hoc analysis (in retrospect)
What are the 3 goals of human-aware navigation?
Comfort, naturalness, socability
What is comfort?
Absence of annoyance and stress for humans
What is naturalness?
Similarity of robot behaviour to humans
What is sociability?
Adherence to high-level cultural constraints
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
