两人协作通过共享信心可提升机器人远程操作决策性能。
Joint Decision-Making in Robot Teleoperation: When are Two Heads Better Than One?
- 通过共享信心实现双人协作决策，优于单人最优表现。
- 100名参与者实验显示协作性能显著提升（p<0.0001）。
- 效果受个体能力与信心校准程度共同影响，适合高要求人机协作场景。
在安全关键领域中，操作员需在不确定性下做出决策，这对单个操作员而言仍是挑战。一个开放性问题在于：两人协作是否比单人表现更优？尽管以往研究表明‘两人胜于一人’，但多限于静态、被动任务。本研究探讨动态任务中人类远程操控机器人时的联合决策行为。我们进行了包含 $N=100$ 名参与者的用户实验，每位参与者在模拟环境中操控两台移动机器人完成导航任务。结果发现，通过信心共享实现的协作决策显著优于表现更优的个体（p<0.0001）。此外，该优势程度同时受个体技能水平及信心估计校准度的影响。最后，我们基于组成双人组的个体特征，刻画了人-人协作组的信心校准特性。首次证明在涉及主动控制的时空任务中，‘两人胜于一人’依然成立。
原文摘要 · Abstract (English)
Operators working with robots in safety-critical domains have to make decisions under uncertainty, which remains a challenging problem for a single human operator. An open question is whether two human operators can make better decisions jointly, as compared to a single operator alone. While prior work has shown that two heads are better than one, such studies have been mostly limited to static and passive tasks. We investigate joint decision-making in a dynamic task involving humans teleoperating robots. We conduct a human-subject experiment with $N=100$ participants where each participant performed a navigation task with two mobiles robots in simulation. We find that joint decision-making through confidence sharing improves dyad performance beyond the better-performing individual (p<0.0001). Further, we find that the extent of this benefit is regulated both by the skill level of each individual, as well as how well-calibrated their confidence estimates are. Finally, we present findings on characterising the human-human dyad's confidence calibration based on the individuals constituting the dyad. Our findings demonstrate for the first time that two heads are better than one, even on a spatiotemporal task which includes active operator control of robots.
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