Exploring Variation of Natural Human Commands to a Robot in a Collaborative Navigation Task
Abstract
Robot-directed communication is variable, and may change based on human perception of robot capabilities. To collect training data for a dialogue system and to investigate possible communication changes over time, we developed a Wizard-of-Oz study that (a) simulates a robots limited understanding, and (b) collects dialogues where human participants build a progressively better mental model of the robots understanding. With ten participants, we collected ten hours of human-robot dialogue. We analyzed the structure of instructions that participants gave to a remote robot before it responded. Our findings show a general initial preference for including metric information (e.g., move forward 3 feet) over landmarks(e.g., move to the desk) in motion commands, but this decreased over time, suggesting changes in perception.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jul 30, 2017
- Accession Number
- AD1158541
Entities
People
- Ashley Foots
- Cassidy Henry
- Claire Bonial
- Clare R. Voss
- Cory Hayes
- David R Traum
- Kimberly A. Pollard
- Matthew Marge
- Ron Artstein
Organizations
- United States Army Research Laboratory
- University of Southern California