机器人主动伸手递巧克力，能显著提升路人互动意愿。
A Service Robot in the Wild: Analysis of Users Intentions, Robot Behaviors, and Their Impact on the Interaction
- 机器人通过行为线索预判用户意图，主动递出巧克力托盘。
- 1777次真实交互中，主动行为使用户互动率提升明显。
- 适合社交机器人、人机交互领域研究者参考。
我们部署了一款服务机器人，在3天内于两个不同人群密集的公共场所运行超过5小时。机器人能提前预测行人互动意图，并执行'递送'动作——将巧克力托盘悄然伸向目标。系统随机切换三种行为模式：被动（从不执行递送）、基于距离的简单触发，或基于多种用户行为线索的智能策略。共收集1777名用户的自发人机交互数据，分析表明，当机器人主动发起互动时，用户更倾向于参与。我们公开了数据集，并提供可复现性支持。此外，还记录了定性观察，识别出社会性人机交互领域的未来挑战与研究方向。
原文摘要 · Abstract (English)
We consider a service robot that offers chocolate treats to people passing in its proximity: it has the capability of predicting in advance a person's intention to interact, and to actuate an "offering" gesture, subtly extending the tray of chocolates towards a given target. We run the system for more than 5 hours across 3 days and two different crowded public locations; the system implements three possible behaviors that are randomly toggled every few minutes: passive (e.g. never performing the offering gesture); or active, triggered by either a naive distance-based rule, or a smart approach that relies on various behavioral cues of the user. We collect a real-world dataset that includes information on 1777 users with several spontaneous human-robot interactions and study the influence of robot actions on people's behavior. Our comprehensive analysis suggests that users are more prone to engage with the robot when it proactively starts the interaction. We release the dataset and provide insights to make our work reproducible for the community. Also, we report qualitative observations collected during the acquisition campaign and identify future challenges and research directions in the domain of social human-robot interaction.
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