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Perception is Only Real When Shared: A Mathematical Model for Collaborative Shared Perception in Human-Robot

Marco Matarese1,2, Francesco Rea2, Alessandra Sciutti3

  • 1DIBRIS Department, University of Genoa, Genoa, Italy.

Frontiers in Robotics and AI
|July 5, 2022
PubMed
Summary
This summary is machine-generated.

Robots using shared perception to understand human partners improve task completion. This human-robot interaction approach enhances collaboration by considering differing viewpoints, even if subjective experience doesn't change.

Keywords:
gaze cueshuman-robot interactionjoint attentionnonverbal communicationshared autonomyshared perceptiontheory of mind

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Area of Science:

  • Human-Robot Interaction
  • Cognitive Science
  • Collaborative Robotics

Background:

  • Shared perception is crucial for partners to build common ground and environmental understanding.
  • Social cognitive processes like joint attention and perspective-taking underpin shared perception.
  • Robots can benefit from shared perception for more effective human-robot interaction (HRI).

Purpose of the Study:

  • To assess if robots considering perceptual differences improve their helping role and task completion.
  • To evaluate the impact of shared perception on human-robot collaboration and interaction experience.
  • To develop and test a mathematical model for collaborative shared perception with perceptual asymmetries.

Main Methods:

  • Designed a mathematical model to maximize collaborators' environmental knowledge with perceptual asymmetries.
  • Implemented and tested the model in a real HRI scenario using a cooperative Lego brick tower building game.
  • Compared robot behaviors: one using shared perception, the other using individual perspective for suggestions.

Main Results:

  • Shared perception significantly improved task performance when visual information was not initially common.
  • Robot suggestions based on shared perception led to better outcomes in asymmetric information scenarios.
  • Subjective evaluations of the robot's behavior showed no significant difference between the two conditions.

Conclusions:

  • Shared perception enhances robot effectiveness in collaborative tasks, particularly when agents have differing environmental views.
  • Mathematical modeling of shared perception can optimize robot assistance in HRI.
  • While objective performance improves, subjective user experience may require further investigation.