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Autonomous Mobile Robotics > 11 - Human-Robot Interaction 2 > Flashcards

11 - Human-Robot Interaction 2 Flashcards

1
Q

What is engagement?

A

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

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2
Q

What behaviours does engagement encompass?

A

All types

Implicit/Explicit and Verbal/Non-verbal

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3
Q

What are the 3 stages to engagement?

A

Establish, maintain and end

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4
Q

What is establishing engagement?

A

Attracting attention, drawing into an ongoing interaction

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5
Q

What are the 2 types of strategies for establishing engagement?

A

Social and Non-Social

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6
Q

What are the 4 types of social strategy?

A

Speech, Gesture, Behaviour, Physical Interaction

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7
Q

What are the 3 types of non-social strategy?

A

Sound, Vision, Behaviour

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8
Q

What does maintaining engagement partially rely on?

A

Anthropomorphism and attribution of agency

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9
Q

What does maintaining engagement motivate?

A

Incorporating cognitive architectures into HRI systems

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10
Q

What is end engagement?

A

Ending the interaction, and hence any engagement in the interaction

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11
Q

What can ending engagement be related to?

A

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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12
Q

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

A

How to tell whether someone is engaged in an interaction

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13
Q

What is one way of indicating engagement?

A

Gaze

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14
Q

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

A

It is often post-hoc analysis (in retrospect)

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15
Q

What are the 3 goals of human-aware navigation?

A

Comfort, naturalness, socability

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16
Q

What is comfort?

A

Absence of annoyance and stress for humans

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17
Q

What is naturalness?

A

Similarity of robot behaviour to humans

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18
Q

What is sociability?

A

Adherence to high-level cultural constraints

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19
Q

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

A

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

20
Q

Why is Dijkstra not ideal?

A

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

21
Q

How can we keep our robot safe?

A

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

22
Q

Discuss robot distances and costs?

A

Robot centre point as point of rotation

Obstacles are lethal

Lethal obstacles are inflated based on the robot size

23
Q

How do you use costs?

A

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

24
Q

What are the 2 types of human-aware things?

A

Human-Robot Spatial Interaction and Human-Aware Navigation

25
Q

What is Human-Robot spatial interaction?

A

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

26
Q

What is Human-Aware navigation?

A

Specifically taking the human into account

27
Q

What are the 2 methods of Human-Aware Navigation?

A

Stop-and-wait: human does all the hard work

Cost functions based on principles of proxemics

28
Q

What are proxemics?

A

A virtual space around an individual

Divided into four main zones

Each zone at a different distance, and with different interaction characteristics

29
Q

What are the 4 zones of proxemics?

A

Intimate, Personal, Social and Public

30
Q

What is the distance for intimate space?

A

0-45cm

31
Q

What is the distance for personal space?

A

45-120cm

32
Q

What is the distance for social space?

A

1.2m-3.6m

33
Q

What is the distance for public space?

A

> 3.6m

34
Q

What type of interaction is there in intimate space?

A

Intimacy

35
Q

What type of interaction is there in personal space?

A

Family and good friends

36
Q

What type of interaction is there in social space?

A

Interactions with acquaintances/strangers

37
Q

What type of interaction is there in public space?

A

Public speaking

38
Q

What are 5 caveats of proxemics?

A

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

39
Q

How can you combine costmaps and proxemics?

A

Include costmaps as part of the human representation in the map

40
Q

What is Gaussian Distribution and Proxemics?

A

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

41
Q

What are the positives to Gaussian cost functions?

A

Straightforward implementation

Relevant for all environments

Takes into account proxemics

Ensures interaction is safe and perceived to be as such

42
Q

What are the negatives to Gaussian cost functions?

A

Only influences distances

Sociability and naturalness not guaranteed

Does not take into account social context

Works with Dijkstra (slow/inefficient)

43
Q

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

A

Performance metrics

Testing with real robots/simulations

44
Q

What are the difficulties of testing a HRI system?

A

Humans are problems

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

45
Q

What are the steps to the scientific method of evaluation?

A

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

46
Q

What are pilot/exploratory studies?

A

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

Autonomous Mobile Robotics (13 decks)

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