Achieving Interaction Fluidity in a Wizard-of-Oz Robotic System: A Prototype for Fluid Error-Correction
Carlos Baptista De Lima, Julian Hough, Frank Förster, Patrick Holthaus, Yongjun Zheng
TLDR
This paper proposes key criteria for fluid Wizard-of-Oz robotic systems and presents a VR HRI simulation environment meeting these for error correction.
Key contributions
- Defines key criteria (Interruptibility & Correction, pollability, latency, reproducibility) for fluid WoZ robotic systems.
- Proposes "Interruptibility and Correction" (IaC) as a core property for fluid human-robot interaction.
- Presents a Virtual Reality (VR) HRI simulation environment for mobile manipulators meeting these criteria.
Why it matters
Current human-robot interaction with speech interfaces is often frustrating due to a lack of suitable development platforms. This paper addresses this by proposing key criteria and a VR simulation environment for fluid Wizard-of-Oz systems. This work is crucial for developing more natural and less laborious robotic interactions, particularly in error correction.
Original Abstract
Achieving truly fluid interaction with robots with speech interfaces remains a hard problem, and the experience of current Human-Robot Interaction (HRI) remains laboured and frustrating. Some of the barriers to fluid interaction stem from a lack of a suitable development platform for HRI for improving interaction, even in robotic Wizard-of-Oz (WoZ) modes of operation used for data collection and prototyping. Based on previous systems, we propose the properties of interruptibility and correction (IaC), pollability, latency measurement and optimisation and time-accurate reproducibility of actions from logging data as key criteria for a fluid WoZ system to support fluid error correction. We finish by presenting a Virtual Reality (VR) HRI simulation environment for mobile manipulators which meets these criteria.
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