Teaching people how to teach robots

Abstract

Allowing end-users to harness the full capability of general purpose robots, requires giving them powerful tools. As the functionality of these tools increase, learning how to use them becomes more challenging. In this paper we investigate the use of instructional materials to support the learnability of a Programming by Demonstration tool. We develop a system that allows users to program complex manipulation skills on a two-armed robot through a spoken dialog interface and by physically moving the robot's arms. We present a user study (N=30) in which participants are left alone with the robot and a user manual, without any prior instructions on how to program the robot. Instead, they are asked to figure it out on their own. We investigate the effect of providing users with an additional written tutorial or an instructional video. We find that videos are most effective in training the user; however, this effect might be superficial and ultimately trial-and-error plays an important role in learning to program the robot. We also find that tutorials can be problematic when the interaction has uncertainty due to speech recognition errors. Overall, the user study demonstrates the effectiveness and learnability of the our system, while providing useful feedback about the dialog design.

Communication Models in Human–Robot Interaction: An Asymmetric MODel of ALterity in Human–Robot Interaction (AMODAL-HRI)

“…Although all levels of discussion are relevant, the third view is at present most useful to describe situations in which robots are implemented to achieve shared goals in humanrobot teams, which is why we focus on this view in the model we propose in Sect. 6. It is at present not easy to combine cognitive-level reasoning processes regarding common ground, for instance, with the dynamical systems approach, as noted by Dale et al [22, p.62].…”

“…This can lead to the problem that it can be difficult for a human to understand what the robot is (in)capable of doing or perceiving. The robot's capabilities and functionality can be conveyed to the human through training [16] (different instruction methods such as video tutorials are possible, as is trial-and-error exploration [6]). Others propose that the robot could assess the reliability of its perceptions through human-robot dialogue [64].…”

“…Mental models have been defined as "the mechanisms whereby humans are able to generate descriptions of system purpose and form, explanations of system functioning and observed system states, and predictions of future system states" [75, p.7]. Interpretation and understanding in humans can be described as occurring through the application of certain frames or mental models [30] to a situation, based on previously experienced situations 6 . In HRI, the mental model concept has been used to indicate people's estimates of the knowledge, abilities, role and goals of the robot [53].…”

“…Design Recommendation 3 Use an appropriate design metaphor to set human expectations of the robot and the interaction at a more accurate level. 6 Endsley relates the concept of the mental model to that of the situation(al) model, a way of understanding the current state of a system. A situation model/mental model can be used to identify critical cues and elements to attend to, understand the meaning of elements in a situation, predict future states, and identify which actions are appropriate in this situation.…”

Development of Entrepreneurial Teaching Materials by Using Project-Based Learning Model in Improving Students' Creativity and Self-Confidence

“…This can occur due to a lack of entrepreneurial literacy. By referring to the 2013 curriculum, it is hoped that students can further develop themselves by innovating to create real work projects (Cakmak & Takayama, 2014;Gray, 2013;Donkor, 2010;Chen & Tzeng, 2011).…”