Suppr超能文献

感知只有在共享时才真实:人机交互中协作共享感知的数学模型。

Perception is Only Real When Shared: A Mathematical Model for Collaborative Shared Perception in Human-Robot Interaction.

作者信息

Matarese Marco, Rea Francesco, Sciutti Alessandra

机构信息

DIBRIS Department, University of Genoa, Genoa, Italy.

RBCS Unit, Italian Institute of Technology, Genoa, Italy.

出版信息

Front Robot AI. 2022 Jun 15;9:733954. doi: 10.3389/frobt.2022.733954. eCollection 2022.

Abstract

Partners have to build a shared understanding of their environment in everyday collaborative tasks by aligning their perceptions and establishing a common ground. This is one of the aims of shared perception: revealing characteristics of the individual perception to others with whom we share the same environment. In this regard, social cognitive processes, such as joint attention and perspective-taking, form a shared perception. From a Human-Robot Interaction (HRI) perspective, robots would benefit from the ability to establish shared perception with humans and a common understanding of the environment with their partners. In this work, we wanted to assess whether a robot, considering the differences in perception between itself and its partner, could be more effective in its helping role and to what extent this improves task completion and the interaction experience. For this purpose, we designed a mathematical model for a collaborative shared perception that aims to maximise the collaborators' knowledge of the environment when there are asymmetries in perception. Moreover, we instantiated and tested our model a real HRI scenario. The experiment consisted of a cooperative game in which participants had to build towers of Lego bricks, while the robot took the role of a suggester. In particular, we conducted experiments using two different robot behaviours. In one condition, based on shared perception, the robot gave suggestions by considering the partners' point of view and using its inference about their common ground to select the most informative hint. In the other condition, the robot just indicated the brick that would have yielded a higher score from its individual perspective. The adoption of shared perception in the selection of suggestions led to better performances in all the instances of the game where the visual information was not common to both agents. However, the subjective evaluation of the robot's behaviour did not change between conditions.

摘要

在日常协作任务中,伙伴们必须通过协调他们的认知并建立共同基础,来构建对所处环境的共同理解。这是共享认知的目标之一:向与我们共享同一环境的他人揭示个体认知的特征。在这方面,诸如共同关注和换位思考等社会认知过程构成了共享认知。从人机交互(HRI)的角度来看,机器人若能与人类建立共享认知并与伙伴对环境达成共同理解,将会从中受益。在这项工作中,我们想评估一个考虑到自身与伙伴之间认知差异的机器人,在其辅助角色中是否会更有效,以及这在多大程度上能改善任务完成情况和交互体验。为此,我们设计了一个用于协作共享认知的数学模型,旨在在存在认知不对称的情况下,最大化合作者对环境的了解。此外,我们在一个真实的人机交互场景中实例化并测试了我们的模型。实验包括一个合作游戏,参与者必须搭建乐高积木塔,而机器人扮演建议者的角色。具体来说,我们使用两种不同的机器人行为进行了实验。在一种情况下,基于共享认知,机器人通过考虑伙伴的观点并利用其对共同基础的推断来选择最具信息量的提示,从而给出建议。在另一种情况下,机器人只是从其个人角度指出能获得更高分数的积木。在视觉信息并非两个主体都共有的游戏所有实例中,在选择建议时采用共享认知都带来了更好的表现。然而,不同条件下对机器人行为的主观评价并没有变化。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/296d/9240641/efd94e3651c3/frobt-09-733954-g001.jpg

相似文献

1
Perception is Only Real When Shared: A Mathematical Model for Collaborative Shared Perception in Human-Robot Interaction.
Front Robot AI. 2022 Jun 15;9:733954. doi: 10.3389/frobt.2022.733954. eCollection 2022.
3
Toward understanding social cues and signals in human-robot interaction: effects of robot gaze and proxemic behavior.
Front Psychol. 2013 Nov 27;4:859. doi: 10.3389/fpsyg.2013.00859. eCollection 2013.
4
Human-robot interaction: the impact of robotic aesthetics on anticipated human trust.
PeerJ Comput Sci. 2022 Jan 14;8:e837. doi: 10.7717/peerj-cs.837. eCollection 2022.
5
Human Cognition in Interaction With Robots: Taking the Robot's Perspective Into Account.
Hum Factors. 2021 Dec;63(8):1396-1407. doi: 10.1177/0018720820933764. Epub 2020 Jul 10.
6
Freedom comes at a cost?: An exploratory study on affordances' impact on users' perception of a social robot.
Front Robot AI. 2024 Mar 18;11:1288818. doi: 10.3389/frobt.2024.1288818. eCollection 2024.
7
I Can See It in Your Eyes: Gaze as an Implicit Cue of Uncanniness and Task Performance in Repeated Interactions With Robots.
Front Robot AI. 2021 Apr 7;8:645956. doi: 10.3389/frobt.2021.645956. eCollection 2021.
8
Robot Faces that Follow Gaze Facilitate Attentional Engagement and Increase Their Likeability.
Front Psychol. 2018 Feb 5;9:70. doi: 10.3389/fpsyg.2018.00070. eCollection 2018.
9
The potential of robot eyes as predictive cues in HRI-an eye-tracking study.
Front Robot AI. 2023 Jul 28;10:1178433. doi: 10.3389/frobt.2023.1178433. eCollection 2023.
10
A Biological Inspired Cognitive Framework for Memory-Based Multi-Sensory Joint Attention in Human-Robot Interactive Tasks.
Front Neurorobot. 2021 Nov 23;15:648595. doi: 10.3389/fnbot.2021.648595. eCollection 2021.

本文引用的文献

1
The role of reciprocity in human-robot social influence.
iScience. 2021 Nov 11;24(12):103424. doi: 10.1016/j.isci.2021.103424. eCollection 2021 Dec 17.
2
Dynamic modulation of social influence by indirect reciprocity.
Sci Rep. 2021 May 27;11(1):11104. doi: 10.1038/s41598-021-90656-y.
3
Experiments in Artificial Theory of Mind: From Safety to Story-Telling.
Front Robot AI. 2018 Jun 26;5:75. doi: 10.3389/frobt.2018.00075. eCollection 2018.
4
Emerging Adults' Expectations About the Next Generation of Robots: Exploring Robotic Needs Through a Latent Profile Analysis.
Cyberpsychol Behav Soc Netw. 2021 May;24(5):315-323. doi: 10.1089/cyber.2020.0161. Epub 2021 Jan 20.
5
Would a robot trust you? Developmental robotics model of trust and theory of mind.
Philos Trans R Soc Lond B Biol Sci. 2019 Apr 29;374(1771):20180032. doi: 10.1098/rstb.2018.0032.
6
I Reach Faster When I See You Look: Gaze Effects in Human-Human and Human-Robot Face-to-Face Cooperation.
Front Neurorobot. 2012 May 3;6:3. doi: 10.3389/fnbot.2012.00003. eCollection 2012.
7
Investigating joint attention mechanisms through spoken human-robot interaction.
Cognition. 2011 Aug;120(2):268-91. doi: 10.1016/j.cognition.2011.05.005. Epub 2011 Jun 12.
8
When gaze turns into grasp.
J Cogn Neurosci. 2006 Dec;18(12):2130-7. doi: 10.1162/jocn.2006.18.12.2130.
9
Eye movements in natural behavior.
Trends Cogn Sci. 2005 Apr;9(4):188-94. doi: 10.1016/j.tics.2005.02.009.
10
What the eyes say about speaking.
Psychol Sci. 2000 Jul;11(4):274-9. doi: 10.1111/1467-9280.00255.

文献AI研究员

20分钟写一篇综述,助力文献阅读效率提升50倍。

立即体验

用中文搜PubMed

大模型驱动的PubMed中文搜索引擎

马上搜索

文档翻译

学术文献翻译模型,支持多种主流文档格式。

立即体验