In previous work, researchers in Human-Robot Interaction (HRI) have demonstrated that user trust in robots depends on effective and transparent communication. This may be particularly true for robots used for transportation, due to user reliance on such robots for physical movement and safety. In this paper, we present the design of an experiment examining the importance of proactive communication by robotic wheelchairs, as compared to non-vehicular mobile robots, within a Virtual Reality (VR) environment. Furthermore, we describe the specific advantages – and limitations – of conducting this type of HRI experiment in VR.
more »
« less
SEAN-VR: An Immersive Virtual Reality Experience for Evaluating Social Robot Navigation
We propose a demonstration of the Social Environment for Autonomous Navigation with Virtual Reality (VR) for advancing research in Human-Robot Interaction. In our demonstration, a user controls a virtual avatar in simulation and performs directed navigation tasks with a mobile robot in a warehouse environment. Our demonstration shows how researchers can leverage the immersive nature of VR to study robot navigation from a user-centered perspective in densely populated environments while avoiding physical safety concerns common with operating robots in the real world. This is important for studying interactions with robots driven by algorithms that are early in their development lifecycle.
more »
« less
- Award ID(s):
- 1924802
- NSF-PAR ID:
- 10461833
- Date Published:
- Journal Name:
- Companion of the 2023 ACM/IEEE International Conference on Human- Robot Interaction
- Page Range / eLocation ID:
- 902 to 904
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
Robot social navigation is influenced by human preferences and environment-specific scenarios such as elevators and doors, thus necessitating end-user adaptability. State-of-the-art approaches to social navigation fall into two categories: model-based social constraints and learning-based approaches. While effective, these approaches have fundamental limitations – model-based approaches require constraint and parameter tuning to adapt to preferences and new scenarios, while learning-based approaches require reward functions, significant training data, and are hard to adapt to new social scenarios or new domains with limited demonstrations.In this work, we propose Iterative Dimension Informed Program Synthesis (IDIPS) to address these limitations by learning and adapting social navigation in the form of human-readable symbolic programs. IDIPS works by combining pro-gram synthesis, parameter optimization, predicate repair, and iterative human demonstration to learn and adapt model-free action selection policies from orders of magnitude less data than learning-based approaches. We introduce a novel predicate repair technique that can accommodate previously unseen social scenarios or preferences by growing existing policies.We present experimental results showing that IDIPS: 1) synthesizes effective policies that model user preference, 2) can adapt existing policies to changing preferences, 3) can extend policies to handle novel social scenarios such as locked doors, and 4) generates policies that can be transferred from simulation to real-world robots with minimal effort.more » « less
-
Telepresence technology enables users to be virtually present in another location at the same time through video streaming. This kind of user interaction is further enhanced through mobility by driving remotely to form what is called a Telepresence robot. These innovative machines connect individuals with restricted mobility and increase social interaction, collaboration and active participation. However, operating and navigating these robots by individuals who have little knowledge and map of the remote environment is challenging. Avoiding obstacles via the narrow camera view and manual remote operation is a cumbersome task. Moreover, the users lack the sense of immersion while they are busy maneuvering via the real-time video feed and, thereby, decreasing their capability to handle different tasks. This demo presents a simultaneous mapping and autonomous driving virtual reality robot. Leveraging the 2D Lidar sensor, we generate two dimensional occupancy grid maps via SLAM and provide assisted navigation in reducing the onerous task of avoiding obstacles. The attitude of the robotic head with a camera is remotely controlled via the virtual reality headset. Remote users will be able to gain a visceral understanding of the environment while teleoperating the robot.more » « less
-
Virtual reality is a powerful tool for teaching 3D digital technologies in building engineering, as it facilitates the spatial perception of three-dimensional space. Spatial orientation skill is necessary for understanding 3D space. With VR, users navigate through virtually designed buildings and must be constantly aware of their position relative to other elements of the environment (orientation during navigation). In the present study, 25 building engineering students performed navigation tasks in a desktop-VR environment workshop. Performance of students using the desktop-VR was compared to a previous workshop in which navigation tasks were carried out using head-mounted displays. The Perspective Taking/Spatial Orientation Test measured spatial orientation skill. A questionnaire on user experience in the virtual environment was also administered. The gain in spatial orientation skill was 12.62%, similar to that obtained with head-mounted displays (14.23%). The desktop VR environment is an alternative to the HMD-VR environment for planning strategies to improve spatial orientation. Results from the user-experience questionnaire showed that the desktop VR environment strategy was well perceived by students in terms of interaction, 3D visualization, navigation, and sense of presence. Unlike in the HDM VR environment, student in the desktop VR environment did not report feelings of fatigue or dizziness.more » « less
-
null (Ed.)There is a significant amount of synergy between virtual reality (VR) and the field of robotics. However, it has only been in approximately the past five years that commercial immersive VR devices have been available to developers. This new availability has led to a rapid increase in research using VR devices in the field of robotics, especially in the development of VR interfaces for operating robots. In this paper, we present a systematic review on VR interfaces for robot operation that utilize commercially available immersive VR devices. A total of 41 papers published between 2016–2020 were collected for review following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. Papers are discussed and categorized into five categories: (1) Visualization, which focuses on displaying data or information to operators; (2) Robot Control and Planning, which focuses on connecting human input or movement to robot movement; (3) Interaction, which focuses on the development of new interaction techniques and/or identifying best interaction practices; (4) Usability, which focuses on user experiences of VR interfaces; and (5) Infrastructure, which focuses on system architectures or software to support connecting VR and robots for interface development. Additionally, we provide future directions to continue development in VR interfaces for operating robots.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1145/3568294.3580039
