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In Human–Robot Interaction, researchers typically utilize in-person studies to collect subjective perceptions of a robot. In addition, videos of interactions and interactive simulations (where participants control an avatar that interacts with a robot in a virtual world) have been used to quickly collect human feedback at scale. How would human perceptions of robots compare between these methodologies? To investigate this question, we conducted a 2x2 between-subjects study (N=160), which evaluated the effect of the interaction environment (Real vs. Simulated environment) and participants’ interactivity during human-robot encounters (Interactive participation vs. Video observations) on perceptions about a robot (competence, discomfort, social presentation, and social information processing) for the task of navigating in concert with people. We also studied participants’ workload across the experimental conditions. Our results revealed a significant difference in the perceptions of the robot between the real environment and the simulated environment. Furthermore, our results showed differences in human perceptions when people watched a video of an encounter versus taking part in the encounter. Finally, we found that simulated interactions and videos of the simulated encounter resulted in a higher workload than real-world encounters and videos thereof. Our results suggest that findings from video and simulation methodologies may not always translate to real-world human–robot interactions. In order to allow practitioners to leverage learnings from this study and future researchers to expand our knowledge in this area, we provide guidelines for weighing the tradeoffs between different methodologies.
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This content will become publicly available on November 4, 2025
SEMPI: A Database for Understanding Social Engagement in Video-Mediated Multiparty Interaction
We present a database for automatic understanding of Social Engagement in MultiParty Interaction (SEMPI). Social engagement is an important social signal characterizing the level of participation of an interlocutor in a conversation. Social engagement involves maintaining attention and establishing connection and rapport. Machine understanding of social engagement can enable an autonomous agent to better understand the state of human participation and involvement to select optimal actions in human-machine social interaction. Recently, video-mediated interaction platforms, e.g., Zoom, have become very popular. The ease of use and increased accessibility of video calls have made them a preferred medium for multiparty conversations, including support groups and group therapy sessions. To create this dataset, we first collected a set of publicly available video calls posted on YouTube. We then segmented the videos by speech turn and cropped the videos to generate single-participant videos. We developed a questionnaire for assessing the level of social engagement by listeners in a conversation probing the relevant nonverbal behaviors for social engagement, including back-channeling, gaze, and expressions. We used Prolific, a crowd-sourcing platform, to annotate 3,505 videos of 76 listeners by three people, reaching a moderate to high inter-rater agreement of 0.693. This resulted in a database with aggregated engagement scores from the annotators. We developed a baseline multimodal pipeline using the state-of-the-art pre-trained models to track the level of engagement achieving the CCC score of 0.454. The results demonstrate the utility of the database for future applications in video-mediated human-machine interaction and human-human social skill assessment. Our dataset and code are available at https://github.com/ihp-lab/SEMPI.
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- Award ID(s):
- 2211550
- PAR ID:
- 10620784
- Publisher / Repository:
- ACM
- Date Published:
- ISBN:
- 9798400704628
- Page Range / eLocation ID:
- 546 to 555
- Format(s):
- Medium: X
- Location:
- San Jose Costa Rica
- Sponsoring Org:
- National Science Foundation
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