How can robots fluently communicate with humans and have context-preserving conversation? It is the most momentous and crucial problem in robotics research, especially for service robots such as child-care robots. Here, we aim to develop a situated conversation system for child-care robots. The conversation system considers the current context between robots and children as well as the situation the child is in. The system consists of two parts. The first part tries to understand the context. This part uses the embedded sensors of robots to understand the context and wearable sensors of the child for getting information of the situation the child is in. The second part is to generate the situated conversation. In terms of the model, we designed a hierarchical Bayesian Network for the first part and a Hypernetwork model is used for the second part. We illustrate the application of communication with a child in a child-care service robots scenario. For this application, we collect wearable sensors’ data from the child and mother-child conversation data in daily life. Finally, we discuss our results and future works.

Autonomous agents require interfaces to define their interactions with humans. The coupling between agents and humans is often limited, with disjoint goals between the agent interface and its associated autonomous components. This leads to a gap in human interaction relative to agent capabilities. We seek to aid interface designs by clarifying agent capabilities within an interface context. A taxonomy was developed that can help elucidate the agent’s affordances and constraints that guide interface design. Moreover, the descriptors employed in the taxonomy can serve as a common language to support dialog between agent and interface developers, resulting in improved autonomous systems that support human-autonomy coordination.

Advanced robotic technology is opening up the possibility of integrating robots into the human workspace to improve productivity and decrease the strain of repetitive, arduous physical tasks currently performed by human workers. However, coordinating these teams is a challenging problem. We must understand how decision-making authority over scheduling decisions should be shared between team members and how the preferences of the team members should be included. We report the results of a human-subject experiment investigating how a robotic teammate should best incorporate the preferences of human teammates into the team's schedule. We find that humans would rather work with a robotic teammate that accounts for their preferences, but this desire might be mitigated if their preferences come at the expense of team efficiency.

Our work is aimed at service robots deployed in human environments that will need many specialized object manipulation skill. We believe robots should leverage end-users to quickly and efficiently learn the affordances of objects in their environment. Prior work has shown that this approach is promising because people naturally focus on showing salient rare aspects ofthe objects (Thomaz and Cakmak 2009). We replicate these prior results and build on them to create a semi-supervised combination of self and guided learning.We compare three conditions: (1) learning through self-exploration, (2) learning from demonstrations providedby 10 naive users, and (3) self-exploration seeded with the user demonstrations. Initial results suggests benefits of a mixed initiative approach.

Autonomous mobile service robots move in our buildings, carrying out different tasks and traversing multiple floors. While moving and performing their tasks, these robots find themselves in a variety of states. Although speech is often used for communicating the robot’s state to humans, such communication can often be ineffective, due to the transient nature of speech. In this paper, we investigate the use of lights as a persistent visualization of the robot’s state in relation to both tasks and environmental factors. Programmable lights offer a large degree of choices in terms of animation pattern, color and speed. We present this space of choices and introduce different animation profiles that we consider to animate a set of programmable lights on the robot. We conduct experiments to query about suitable animations for three representative scenarios of an autonomous symbiotic service robot, CoBot. Our work enables CoBot to make its states persistently visible to the humans it interacts with.

Performing experimental research on robotic platforms involves numerous practical complications, while studying collaborative interactions and efficiently collecting data from humans benefit from real time response. Roboticists can circumvent some complications by using simulators like Gazebo to test algorithms and building games like the Mars Escape game to collect data. Making use of existing resources for simulation and game creation requires the development of assets and algorithms along with the recruitment and training of users. We have created a Minecraft mod called BurlapCraft which enables the use of the reinforcement learning and planning library BURLAP to model and solve different tasks within Minecraft. BurlapCraft makes AI-HRI development easier in three core ways: the underlying Minecraft environment makes the construction of experiments simple for the developer and so allows the rapid prototyping of experimental setup; BURLAP contributes a wide variety of extensible algorithms for learning and planning, allowing easy iteration and development of task models and algorithms; and the familiarity and ubiquity of Minecraft trivializes the recruitment and training of users. To validate BurlapCraft as a platform for AI development, we demonstrate the execution of A*, BFS, RMax, language understanding, and learning language groundings from user demonstrations in five Minecraft "dungeons."

This paper explores the concept of Continuation Desire further by investigating the behavioral intent of players’ desire to keep playing. User experience is a complex, multifaceted topic, which is commonly studied through different aspects namely engagement, continuation desire, immersion, flow experience, motivation and enjoyment — yet it is difficult to measure. These concepts were conceptualized into different factors and thereby it was identified which of them are related. This resulted in a synthesized model that was based on the Theory of Planned Behavior model. This model takes into account the perceived user experience factors relevant for Continuation Desire and then attempts to predict players’ intention to continue playing. Structural Equation Modeling analysis was performed to validate the model and to predict the intention of continuation desire. At the same time, exploring why people continue playing, based on experiments using Candy Crush Saga, one of the most popular Free-to-Play mobile games worldwide. The findings indicate that motivation is an important factor of Continuation Desire in Free-to-Play mobile games, with engagement, enjoyment and flow being less important. This paper contributes an early work of a factor-based exploration of measuring user experience and their continuation desire.

In this article, we describe our method of modeling sociolinguistic behaviors of players in massively multi-player online games. The focus of this paper is leadership, as it is manifested by the participants engaged in discussion, and the automated modeling of this complex behavior in virtual worlds. We first approach the research question of modeling from a social science perspective, and ground our models in theories from human communication literature. We then adapt a two-tiered algorithmic model that derives certain mid-level sociolinguistic behaviors--such as Task Control, Topic Control and Disagreement from discourse linguistic indicators--and combines these in a weighted model to reveal the complex role of Leadership. The algorithm is evaluated by comparing its prediction of leaders against ground truth – the participants’ own ratings of leadership of themselves and their conversation peers. We find the algorithm performance to be considerably better than baseline.

Videogame avatars provide an expressive avenue for players to represent themselves virtually. Research has shown that these avatars, while virtual, can reveal aspects of players' identities, along with physical, social, and cultural values of the real-world. In this paper, we present an approach for modeling player values through their avatars using artificial intelligence (AI) clustering techniques. In a study with 191 participants who created avatars using our system, we provide a thorough comparison of the techniques across numerical, textual, and visual data. Our findings showed that these data structures can effectively reveal players' values and preferences, such as conforming to stereotypes of character roles using statistical attributes, modeling nuances in text descriptions of avatars, and identifying "best-example" (prototypical) avatar appearances that players can be quantitatively shown to conform to. Our findings suggest that AI clustering approaches can be used to model players to yield insight into implicitly held values in a data-driven manner through virtual avatars.

Is it possible to conduct player modeling without any players? In this paper we use Monte-Carlo Tree Search-controlled procedural personas to simulate a range of decision making styles in the puzzle game MiniDungeons 2. The purpose is to provide a method for synthetic play testing of game levels with synthetic players based on designer intuition and experience. Five personas are constructed, representing five different decision making styles archetypal for the game. The personas vary solely in the weights of decision-making utilities that describe their valuation of a set affordances in MiniDungeons 2. By configuring these weights using designer expert knowledge, and passing the configurations directly to the MCTS algorithm, we make the personas exhibit a number of distinct decision making and play styles.