Authoring and Verifying Human-Robot Interactions

@article{Porfirio2018AuthoringAV,
  title={Authoring and Verifying Human-Robot Interactions},
  author={David J. Porfirio and Allison Saupp{\'e} and Aws Albarghouthi and Bilge Mutlu},
  journal={Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology},
  year={2018}
}
As social agents, robots designed for human interaction must adhere to human social norms. How can we enable designers, engineers, and roboticists to design robot behaviors that adhere to human social norms and do not result in interaction breakdowns? In this paper, we use automated formal-verification methods to facilitate the encoding of appropriate social norms into the interaction design of social robots and the detection of breakdowns and norm violations in order to prevent them. We have… 
View on ACM
dl.acm.org
30 Citations
Background Citations
14
Methods Citations
8

Figures and Tables from this paper

30 Citations

Citation Type

Citation Type

Computational Tools for Human-Robot Interaction Design
TLDR
A multi-faceted interaction-design approach that intersects human-robot interaction and formal methods to help interaction designers embed socially appropriate and avoid socially inappropriate behavior within human- robot interactions is proposed.
Bodystorming Human-Robot Interactions
TLDR
This work introduces Synthé, which allows designers to act out, or bodystorm, multiple demonstrations of an interaction, which are automatically captured and translated into prototypes for the design team using program synthesis.
Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions
TLDR
This paper explores the use of formal methods to construct human-aware robot controllers to support the productivity requirements of humans via human workload-informed models and reactive synthesis.
Transforming Robot Programs Based on Social Context
TLDR
This work proposes an approach to transforming the structure of hand-crafted interaction programs that uses user-scored execution traces as input, in which end users score their paths through the interaction based on their experience, and finds evidence that making informed edits to the robot's program improves user experience.
Visual Programming Environments for End-User Development of intelligent and social robots, a systematic review
Situated Live Programming for Human-Robot Collaboration
TLDR
Results showed that users with little programming experience were able to program HRC tasks in an interactive fashion and the situated live programming approach further supported individualized strategies and workflows.
Formal Verification for Human-Robot Interaction in Medical Environments
TLDR
This work developed an LTL knowledge base for a medical robot tasked with HRI-intensive roles of patient reception and triage and conducted formal verification via an automata-theoretic approach by evaluating the simulated robot against generalized Büchi automata.
Contextual Programming of Collaborative Robots
TLDR
This paper draws on prior work to illustrate the barriers to end-user robot programming when using a state-of-the-art programming interface, and presents two case studies that explore new approaches to providing a robot system with contextual information about the user, task, and environment.
Figaro: A Tabletop Authoring Environment for Human-Robot Interaction
TLDR
Figaro is introduced, an expressive tabletop authoring environment for mobile robots, inspired by shadow puppetry, that provides designers with a natural, situated representation of human-robot interactions while exploiting the intuitiveness of tabletop and tangible programming interfaces.
JESSIE: Synthesizing Social Robot Behaviors for Personalized Neurorehabilitation and Beyond
TLDR
JESSIE is a robotic system that enables novice programmers to program social robots by expressing high-level specifications and supports reproducibility, scalability, and accessibility of personalized robots for HRI.
...
1
2
3
...

References

SHOWING 1-10 OF 51 REFERENCES
Robots in the wild: observing human-robot social interaction outside the lab
This paper discusses the use of observational studies of human-robot social interaction in open human-inhabited environments as a method for improving on the design and evaluating the interactive…
Robot behavior toolkit: Generating effective social behaviors for robots
  • Chien-Ming Huang, Bilge Mutlu
  • Psychology, Computer Science
    2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI)
  • 2012
TLDR
This paper presents the Robot Behavior Toolkit, an open-source implementation of this framework as a Robot Operating System module and a community-based repository for behavioral specifications, and an evaluation of the effectiveness of the Toolkit in using these specifications to generate social behavior in a human-robot interaction study.
Human-robot interaction design using Interaction Composer eight years of lessons learned
TLDR
This paper examines the structure and content of interaction flows, identify common design patterns, and discusses elements of the framework which have proven valuable, features which did not solve their intended purposes, and ways that future systems might better address these issues.
Design patterns for exploring and prototyping human-robot interactions
TLDR
This paper observed human interactions across different scenarios and identified seven patterns, such as question-answer pairs, and designed and implemented Interaction Blocks, a visual authoring environment that enabled prototyping of robot interactions using these patterns.
The Social Impact of a Robot Co-Worker in Industrial Settings
Across history and cultures, robots have been envisioned as assistants working alongside people. Following this vision, an emerging family of products-collaborative manufacturing robots-is enabling…
The repertoire of robot behavior
TLDR
An approach to creating a repertoire of social acts for robots and enabling designers to specify the social situation to which robots may adapt their behaviors is presented, and an implementation of this approach is introduced---the Robot Behavior Toolkit---and two studies that use a limited, proof-of-concept repertoire of specifications for gaze cues to demonstrate the feasibility of the approach.
Design patterns for sociality in human-robot interaction
TLDR
If a design pattern program proves successful, it will provide HRI researchers with basic knowledge about human robot interaction, and save time through the reuse of patterns to achieve high levels of sociality.
Formal Verification of an Autonomous Personal Robotic Assistant
TLDR
This paper examines formal verification of a high-level planner/scheduler for autonomous personal robotic assistants such as CareO-bot R and describes how a model of Care-O-bots and its environment was developed using Brahms, a multiagent workflow language.
Modeling Human-Robot Interaction Based on Generic Interaction Patterns
TLDR
This work presents an approach that combines insights from dialog modeling with software-engineering demands that arise in robotics system research to provide a generalizable framework that can easily be applied to new scenarios.
How to approach humans?-strategies for social robots to initiate interaction
TLDR
A model of approach behavior with which a robot can initiate conversation with people who are walking that significantly improves the robot's performance in initiating conversations.
...
1
2
3
4
5
...