No abstract

Feedback is an essential part of all communication, and agents communicating with humans must be able to both give and receive feedback in order to ensure mutual understanding. In this paper, we analyse multimodal feedback given by humans towards a robot that is presenting a piece of art in a shared environment, similar to a museum setting. The data analysed contains both video and audio recordings of 28 participants, and the data has been richly annotated both in terms of multimodal cues (speech, gaze, head gestures, facial expressions, and body pose), as well as the polarity of any feedback (negative, positive, or neutral). We train statistical and machine learning models on the dataset, and find that random forest models and multinomial regression models perform well on predicting the polarity of the participants' reactions. An analysis of the different modalities shows that most information is found in the participants' speech and head gestures, while much less information is found in their facial expressions, body pose and gaze. An analysis of the timing of the feedback shows that most feedback is given when the robot makes pauses (and thereby invites feedback), but that the more exact timing of the feedback does not affect its meaning.

The work presented here is a culmination of developments within the Swedish project COIN: Co-adaptive human-robot interactive systems, funded by the Swedish Foundation for Strategic Research (SSF), which addresses a unified framework for co-adaptive methodologies in human–robot co-existence. We investigate co-adaptation in the context of safe planning/control, trust, and multi-modal human–robot interactions, and present novel methods that allow humans and robots to adapt to one another and discuss directions for future work.

Intelligent agents interacting with humans through conversation (such as a robot, embodied conversational agent, or chatbot) need to receive feedback from the human to make sure that its communicative acts have the intended consequences. At the same time, the human interacting with the agent will also seek feedback, in order to ensure that her communicative acts have the intended consequences. In this review article, we give an overview of past and current research on how intelligent agents should be able to both give meaningful feedback toward humans, as well as understanding feedback given by the users. The review covers feedback across different modalities (e.g., speech, head gestures, gaze, and facial expression), different forms of feedback (e.g., backchannels, clarification requests), and models for allowing the agent to assess the user's level of understanding and adapt its behavior accordingly. Finally, we analyse some shortcomings of current approaches to modeling feedback, and identify important directions for future research.