Passive Demonstrations of Light-Based Robot Signals for Improved - - PowerPoint PPT Presentation

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Passive Demonstrations of Light-Based Robot Signals for Improved - - PowerPoint PPT Presentation

Sep 21, 2022 333 likes •558 views

Justin W. Hart Passive Demonstrations of Light-Based Robot Signals for Improved Human Interpretability Rolando Fernandez, Nathan John, Sean Kirmani, Justin Hart, Jivko Sinapov, and Peter Stone Building-Wide Intelligence Project Learning

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Passive Demonstrations of Light-Based Robot Signals for Improved Human Interpretability

Rolando Fernandez, Nathan John, Sean Kirmani, Justin Hart, Jivko Sinapov, and Peter Stone

Building-Wide Intelligence Project Learning Agents Research Group Department of Computer Science The University of Texas at Austin

Justin W. Hart

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SLIDE 2
  • Real-world deployment
  • Fleet of autonomous

service robots

– 5 (soon to be 7!)

  • Respond to verbal

commands

  • Intended to provide

services to the building’s

  • ccupants

Building-Wide Intelligence

Justin W. Hart

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SLIDE 3
  • The robots navigate crowded hallways
  • This can lead to navigational conflicts

where the robot and person want to walk into the same place.

Navigating Crowded Spaces

Justin W. Hart

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SLIDE 4

The Hallway Problem

Justin W. Hart

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SLIDE 5

Left Turn Right Turn

Solution: LED Turn Signals

Justin W. Hart

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SLIDE 6

Hallway Test Environment

Justin W. Hart

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SLIDE 7

Modeling the Hallway – 3 Traffic Lanes

Justin W. Hart

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SLIDE 8
  • Hallway – 17x1.85 meters
  • Signal – 7 meters from the person
  • Execute – 2.75 meters from the person
  • Conflict – 1 meter from the person

Robot Behavior

Justin W. Hart

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SLIDE 9
  • 13 participants (9 male, 4 female)
  • Recruited primarily from the UT Austin Engineering and

Computer Science.

  • Procedure
  • Informed consent & media release
  • Participants walked once down the test hallway with the robot

going the opposite direction

  • Survey
  • Results
  • Half interpreted the signal the direction they should take.
  • Half interpreted the signal like a turn signal.

Pilot Study

Justin W. Hart

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SLIDE 10
  • Want to demonstrate the signal with no explicit training period.
  • Idea – Passive Demonstration
  • Have the robot use the signal in context before it is explicitly

needed in the interaction with the participant.

  • Robot makes a lane change at the start of the hallway.

New Approach – Passive Demonstration

Justin W. Hart

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SLIDE 11

Study Conditjons Passive Demonstratjon No Demonstratjon Demonstratjon LED Signal LED No LED No Demonstratjon, No LED Demonstratjon, No LED LED No Demonstratjon, LED Demonstratjon, LED

Study Design

Justin W. Hart

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SLIDE 12
  • 47 Participants (39 male, 8 female)
  • Recruited primarily from the UT Austin Engineering and

Computer Science.

  • Procedure
  • Informed consent & media release
  • Participants walked once down the test hallway with the robot

going the opposite direction

  • Survey
  • Additional 11 participants (8 male, 3 female) recruited for a

follow-up condition.

Study

Justin W. Hart

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SLIDE 13

No Demo, No LED

Justin W. Hart

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SLIDE 14

Justin W. Hart

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SLIDE 15

No Demo, LED

Justin W. Hart

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SLIDE 16

Justin W. Hart

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SLIDE 17

Demo, No LED

Justin W. Hart

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SLIDE 18

Justin W. Hart

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SLIDE 19

Demo, LED

Justin W. Hart

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SLIDE 20

Justin W. Hart

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SLIDE 21

Passive Demonstrations Reduce Conflict

Justin W. Hart

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SLIDE 22
  • We thought the meaning of the LED turn signals would be
  • bvious to users.

– It was not.

  • Introduction of the concept of the passive demonstration of the

signal.

– Effective in demonstrating the meaning of the signal to users.

Conclusion

Justin W. Hart