用对话机器人实时播报任务状态，让家庭机器人更透明可信。
Bridging the Awareness Gap: Socially Mediated State Externalization for Transparent Distributed Home Robots
- 用社交机器人实时播报隐藏机器人的任务进展，提升用户感知。
- 用户注意力从15.8%升至84.6%，满意度全面提高（均p<0.001）。
- 体验更好但任务时间未显著增加，适合家庭服务机器人设计。
家庭中分布式多机器人系统常因机器人不在用户视线内而产生状态感知差距，降低信任感与透明度。本文研究实时、社会性状态外化是否能弥合这一差距而不影响任务表现。我们构建了由共处的社交机器人Pepper播报远程移动操作机器人Stretch~3执行状态的系统，通过语音更新和视觉进度展示任务状态。在30名参与者参与的交叉设计实验中，对比了自主隐藏执行与社会中介状态外化两种条件。结果表明，状态外化显著提升用户任务专注度（从15.8%增至84.6%，p<0.001），大幅改善感知清晰度、可靠性、刺激感与吸引力（均p<0.001）。83%参与者更偏好外化条件，且端到端任务完成时间无显著差异（p=0.271）。结果表明，社会中介状态外化是提升分布式家庭机器人系统透明性与可信度的有效机制，可在不牺牲性能的前提下增强用户体验。
原文摘要 · Abstract (English)
Distributed multi-robot systems for the home often require robots to operate out of the user's sight, creating a state awareness gap that can diminish trust and perceived transparency and control. This paper investigates whether real-time, socially mediated state externalization can bridge this gap without compromising task performance. We developed a system where a co-located social mediator robot (Pepper) externalizes the hidden execution states of an out-of-sight mobile manipulator (Stretch~3) for voice-driven object retrieval and delivery, where task-level states are synchronized and externalized through verbal updates and visual progress display. In a counterbalanced within-subject study (N=30), we compared a baseline of Autonomous Hidden Execution against Socially Mediated State Externalization. Our results show that externalization significantly increases user task-focused attention (from 15.8% to 84.6%, p<.001) and substantially improves perceived perspicuity, dependability, stimulation, and attractiveness (all p<.001). Furthermore, 83% of participants preferred the externalized condition, and this improvement in user experience was achieved without a statistically significant increase in end-to-end task completion time (p=.271). The results suggest that socially mediated state externalization is an effective architectural mechanism for designing more transparent and trustworthy distributed robot systems, ultimately enhancing user experience without sacrificing performance in distributed home robot deployments.
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