1 cogniron fp6-002020 13th ieee international workshop on robots and human interactive...

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COGNIRON FP6-00202013th IEEE International Workshop on Robots and Human Interactive Communications September 20-22, 2004, Kurashiki, Japan

Applying the Wizard-of-Oz Framework to Cooperative Service Discovery and Configuration

Anders Green Helge Hüttenrauch Kerstin Severinson Eklundh

KTH NADAInteraction and Presentation Laboratory100 44 Stockholm, SWEDENE-mail: {green,hehu,kse}@nada.kth.se

http://www.nada.kth.se/iplab/hri

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The Wizard-of-Oz method- peeking into the future:

• Evaluate high-level functions of interactive systems trough simulation

• Study the “real” use of service robots• Ordinary users – Users are not robotic researcchers• Empirical Data on human-robot communication.

U: Follow me (2) ?R: Robot is following (5)

U: Robot, this is an orange (14)R: Found object (25)U: Robot go to the book (31)

R: Ok (42)Better pic?

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Design phases

• Scenario description KE 1: Home-tour

• Dialog patterns Show, Follow, Goto, Find, etc.

• Task coverage & Habituation Task-oriented dialogue Feedback dialogue Error handling dialogue

• User instruction Wizard ”instruction” and

tool development

• User trial & data collection• Analysis and annotation

DESIGN

DATA COLLECTION

& ANALYSIS

HABITUATION

Pilot trials?

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Scenario description: Home Tour

Project scenario description:

• The robot is delivered to a family home.

• After system set-up, a family member teaches the geometry of the house, specific locations, objects and artefacts, to the robot.

• The robot can engage in a dialogue in case of missing or ambiguous information.

User instruction:

Training a service robot Imagine that you have bought

a service robot that is to perform simple duties in your home. Maybe you have broken your leg while when you went skiing or maybe you are waiting to get your hip joints replaced. Anyway, the robot is here, fresh out of the box and now you have to train it to suit your environment.

Topology i.e.

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Habituation process

• Dialogue patterns Support response generation

• Interaction constraints communicated to user maintained by wizard

• Tasks Introduction.

• Hello robot Greeting/Attention

Demonstration• Show objects and locations

Validation • Find/Search objects• Goto location

Closing the interaction• Good byezfc

U: Follow me

(Robot starts person following)R: Following

<error detected>

User monitors

Error handling

U: Stop

(Robot stops person following)R: Stop following.

1.0 – 3 m

COOOL!

Wrong: robot starts moving after the robot’s utterance!

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Scenario model

User instruction Show a place by using the follow me command. Once the robot is at the right position you can define the location by naming it to the robot.

Behavior hypothesis

The user will not stop at the location before attempting to name it.

The user will try to time the labeling command to the moment when the robot has or is about to reach the goal point or area.

Robot behavior The specification of a location is confirmed by the robot using speech. The follow behavior stops after the user started to specify objects or locations.

Svårt att läsa?

The users will go with the robot to the location. Once this location is reached, the user stops the robot and attempts to name the place.

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Tool development

• Dialog production• Joystick navigation• Ultra-sound and laser-

sensor for feedback on user’s distance

• Robot’s camera steered by joystick POV

R

TV-set Fruit-basketCoffee-mugVCR

Batterystation

Colleagues

Remotecontrol

Trashcan

Sofa

Too much – ögon virrar rund…

Focus på VAD? Kanske bra om man tar det och stegar sig igenom(?)

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Här kasta du bort viktig plats!

Onboard cam

Data collection

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Conclusion

• Wizard-of-Oz provide useful insights about future system• Visualizing an interactive scenario to users and designers

allowing for evaluation• Collect data for various purposes

• Opportunity to study human-robot communication with methods from other disciplines (e.g. linguistics, psychology)

Future work

• Interleaved evaluation with “real” components Follow behavior

• Annotation formats Creating and sharing “corpora” of examples

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“Missing”

• All of ‘analysis’: Time consumingsubjective measurements, too

• Ethical discussion “to trick people”

• Discussion: “Why does it work?” Can we really achieve machine-like system performance/behavior and measure it? should one iterate design during Woz-

studies works only ONCE with users (i.e. no iterative studies possible)

1 cogniron fp6-002020 13th ieee international workshop on robots and human interactive...

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