Sensitivity To Perceived Mutual Understanding In Human-Robot Collaborations

In order to collaborate with humans, robots are often provided with a Theory of Mind (ToM) architecture. Such architectures can be evaluated by humans perception of the robot's adaptations. However, humans sensitivities to these adaptations are not the one expected. In this paper, we introduce an interaction involving a robot with a human who design, element by element, the content of a short story. A second-order ToM reasoning aims at estimating user's perception of robot's intentions. We describe and compare three behaviors that rule the robot's decisions about the content of the story: the robot makes random decisions, the robot makes predictable decisions, and the robot makes adversarial decisions. The random condition involves no ToM, while the two others are involving 2nd-order ToM. We evaluate the ToM model with the ability to predict human decisions and compare the ability of the human to predict the robot given the different implemented behaviors. We then estimate the appreciation of the robot by the human, the visual attention of the human and his perceived mutual understanding with the robot. We found that our implementation of the adversarial behavior degraded the estimated interaction's quality. We link this observation with the lower perceived mutual understanding caused by the behavior. We also found that in this activity of story co-creation, subjects showed preferences for the random behavior.

[1]  Stephanie D. Teasley,et al.  The Construction of Shared Knowledge in Collaborative Problem Solving , 1995 .

[2]  F. Tanaka,et al.  Children teach a care-receiving robot to promote their learning , 2012, J. Hum. Robot Interact..

[3]  Pierre Dillenbourg,et al.  Mutual Modelling in Robotics: Inspirations for the Next Steps , 2015, 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[4]  Christian Laugier,et al.  The International Journal of Robotics Research (IJRR) - Special issue on ``Field and Service Robotics '' , 2009 .

[5]  Herbert H. Clark,et al.  Grounding in communication , 1991, Perspectives on socially shared cognition.

[6]  Cynthia Breazeal,et al.  An Embodied Cognition Approach to Mindreading Skills for Socially Intelligent Robots , 2009, Int. J. Robotics Res..

[7]  Dana Kulic,et al.  Measurement Instruments for the Anthropomorphism, Animacy, Likeability, Perceived Intelligence, and Perceived Safety of Robots , 2009, Int. J. Soc. Robotics.

[8]  Wafa Johal,et al.  Cognitive Architecture for Mutual Modelling , 2016, ArXiv.

[9]  Stephanie D. Teasley,et al.  Perspectives on socially shared cognition , 1991 .

[10]  Ana Paiva,et al.  Building successful long child-robot interactions in a learning context , 2016, 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[11]  Susan R. Fussell,et al.  Anthropomorphic Interactions with a Robot and Robot–like Agent , 2008 .

[12]  M. Tomasello,et al.  Does the chimpanzee have a theory of mind? 30 years later , 2008, Trends in Cognitive Sciences.

[13]  Cynthia Breazeal,et al.  An Empirical Analysis of Team Coordination Behaviors and Action Planning With Application to Human–Robot Teaming , 2010, Hum. Factors.

[14]  Pierre Dillenbourg,et al.  From real-time attention assessment to “with-me-ness” in human-robot interaction , 2016, 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[15]  Rachid Alami,et al.  When the robot puts itself in your shoes. Managing and exploiting human and robot beliefs , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[16]  Wafa Johal,et al.  Child-robot spatial arrangement in a learning by teaching activity , 2016, 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN).

[17]  山田 幸恵,et al.  Human-Robot Interaction (HRI) における人の態度・不安・行動 , 2010 .

[18]  Mahadev Satyanarayanan,et al.  OpenFace: A general-purpose face recognition library with mobile applications , 2016 .

[19]  S. Baron-Cohen,et al.  Does the autistic child have a “theory of mind” ? , 1985, Cognition.