Expertise

Open Science

AI-HRI 2022

Mixed-Reality Robot Behavior Replay: A System Implementation

As robots become increasingly complex, they must explain their behaviors to gain trust and acceptance. However, it may be difficult through verbal explanation alone to fully convey information about past behavior, especially regarding objects no longer present due to robots’ or humans’ actions. Humans often try to physically mimic past movements to accompany verbal… Continue reading Mixed-Reality Robot Behavior Replay: A System Implementation

Published

HRI Methods & Metrics 2022

Towards Formalizing HRI Data Collection Processes

A flowchart for the process of designing a data collection study, grounded in recent HRI literature (See Table I). Collection goal and data coverage/abundance subgoals are first identified, followed by an iterative task design and procedure for collecting more data. Task design includes three major elements: the environment, the task with human/object configurations, and the criteria for the main task subject identified to reach the collection goal. The two bi-directional arrows, (a) and (c), and an iteration arrow (b) underline the importance of the iterative process

Within the human-robot interaction (HRI) community, many researchers have focused on the careful design of human-subjects studies. However, other parts of the community, e.g., the technical advances community, also need to do human-subjects studies to collect data to train their models, in ways that require user studies but without a strict experimental design. The… Continue reading Towards Formalizing HRI Data Collection Processes

Published

HRI 2022

Projecting Robot Navigation Paths: Hardware and Software for Projected AR

Navigation Intent, projection mapping

For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such understanding is by visualizing this intent through projections onto the surrounding environment. But despite the demonstrated effectiveness of such projections,… Continue reading Projecting Robot Navigation Paths: Hardware and Software for Projected AR

Published

AI-HRI 2020

Projection Mapping Implementation: Enabling Direct Externalization of Perception Results and Action Intent to Improve Robot Explainability

Augmented reality (AR), tabletop projection mapping

Existing research on non-verbal cues, e.g., eye gaze or arm movement, may not accurately present a robot’s internal states such as perception results and action intent. Projecting the states directly onto a robot’s operating environment has the advantages of being direct, accurate, and more salient, eliminating mental inference about the robot’s intention. However, there… Continue reading Projection Mapping Implementation: Enabling Direct Externalization of Perception Results and Action Intent to Improve Robot Explainability

Published