研究机器人注视如何影响人类注意力，发现对话中的确认请求更易引发人类看向机器人。
Analysis of Mutual and Referential Human and Robot Gazes in a Collaborative Word Association Game
- 让人类与具备大模型能力的NAO机器人玩协作词语联想游戏，对比双向注视和指向性注视两种场景。
- 参与者在提出确认请求时，看向机器人的频率显著上升，但机器人注视方向不影响人类首次注视目标词的时间。
- 任务认知负荷高时，语言内容比机器人注视更能影响人类注意力，适合关注人机协作交互设计的研究者。
机器人注视是人机对话协调的重要组成部分。现有研究多聚焦于面对面社交对话中的注视行为，对高要求任务导向互动中的注视机制了解甚少。本文研究机器人游戏伙伴的注视如何影响人类视觉注意力，并考察人类是否倾向于在寻求确认时看向机器人。实验中，参与者与具备实体形态、由大语言模型驱动的NAO机器人共同完成协作词语联想游戏。在两种条件下分别实现机器人的双向注视与指向性注视。通过眼动追踪眼镜记录参与者的注视轨迹，并结合眼动坐标、语音片段、关键事件及兴趣区域进行分析。结果表明，机器人注视方向并未影响人类首次注视机器人所提议词汇的时间；但在包含确认请求的对话段落中，参与者看向机器人的频率显著高于其他情况。这些发现说明（可能也因游戏本身具有较高认知负荷），该任务中语言因素压倒了指向性注视的影响。研究为设计与验证协作任务中机器人注视与发言权交接行为提供了重要参考。
原文摘要 · Abstract (English)
Robot gaze is a major component of human-robot dialogue coordination. Most studies of gaze in human-robot dialogue focus on face-to-face social conversations, but little is known about gaze in demanding task-focused interactions. In this paper, we investigate how the gaze of a robot game partner affects human visual attention and if humans tend to direct confirmation-seeking gazes towards the robot. In our study, we let participants play a collaborative word association game with a NAO robot acting as an embodied, LLM-driven conversational partner. Our experiments are conducted under two conditions, which implement mutual and referential gazes of the robot respectively. We record participants' gaze using eye tracking glasses and analyze the interactions using gaze coordinates, speech segments, key events and areas of interests. We find that robot gaze orientation does not affect the time to first fixation on words the robot proposed. We also find that participants gaze more often at the robot when their dialogue line contains confirmation requests, compared to when it does not. Our results indicate (likely also due to the cognitively demanding nature of the game) that the verbal aspect of this task overshadows the effects of referential robot gaze. These findings offer valuable insights for designing and validating robot gaze and turn-taking behavior in collaborative tasks which require coordination and efficient communication.
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