通过分析人类注视行为，识别机器人在协作任务中的失败类型与时机。
Gazing at Failure: Investigating Human Gaze in Response to Robot Failure in Collaborative Tasks
- 观察人眼注视模式，判断机器人是执行失误还是决策错误。
- 执行失败时注视更频繁转移，决策失败则注视路径更集中。
- 适合人机交互、机器人可信度研究的团队成员使用。
机器人在与人类协作任务中容易出错，可能损害其作为可靠伙伴的信誉。检测并应对这些失败对维持用户信任至关重要，但机器人常无法自知。本研究探索人类非语言行为——特别是注视动态——能否揭示机器人失败。我们招募27名参与者，与移动操作机器人共同完成拼图任务。机器人被设定在任务开始或结束阶段出现执行性或决策性失败，且部分失败有无被承认。结果表明，失败类型和时机显著影响参与者注视行为：执行性失败引发更多注视转移和对机器人的关注；决策性失败导致注视转移熵降低，尤其在任务末期更为明显。这说明注视模式可作为机器人失败及其类型的可靠指标，并可用于预测合适的恢复策略。
原文摘要 · Abstract (English)
Robots are prone to making errors, which can negatively impact their credibility as teammates during collaborative tasks with human users. Detecting and recovering from these failures is crucial for maintaining effective level of trust from users. However, robots may fail without being aware of it. One way to detect such failures could be by analysing humans' non-verbal behaviours and reactions to failures. This study investigates how human gaze dynamics can signal a robot's failure and examines how different types of failures affect people's perception of robot. We conducted a user study with 27 participants collaborating with a robotic mobile manipulator to solve tangram puzzles. The robot was programmed to experience two types of failures -- executional and decisional -- occurring either at the beginning or end of the task, with or without acknowledgement of the failure. Our findings reveal that the type and timing of the robot's failure significantly affect participants' gaze behaviour and perception of the robot. Specifically, executional failures led to more gaze shifts and increased focus on the robot, while decisional failures resulted in lower entropy in gaze transitions among areas of interest, particularly when the failure occurred at the end of the task. These results highlight that gaze can serve as a reliable indicator of robot failures and their types, and could also be used to predict the appropriate recovery actions.
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