Towards Inferring Users' Impressions of Robot Performance in Navigation Scenarios

Human impressions of robot performance are often measured through surveys. As a more scalable and cost-effective alternative, we study the possibility of predicting people's impressions of robot behavior using non-verbal behavioral cues and machine learning techniques. To this end, we first contribute the SEAN TOGETHER Dataset consisting of observations of an interaction between a person and a mobile robot in a Virtual Reality simulation, together with impressions of robot performance provided by users on a 5-point scale. Second, we contribute analyses of how well humans and supervised learning techniques can predict perceived robot performance based on different combinations of observation types (e.g., facial, spatial, and map features). Our results show that facial expressions alone provide useful information about human impressions of robot performance; but in the navigation scenarios we tested, spatial features are the most critical piece of information for this inference task. Also, when evaluating results as binary classification (rather than multiclass classification), the F1-Score of human predictions and machine learning models more than doubles, showing that both are better at telling the directionality of robot performance than predicting exact performance ratings. Based on our findings, we provide guidelines for implementing these predictions models in real-world navigation scenarios

A methodology for the capture and analysis of hybrid data: a case study of program debugging

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Virtual Meeting Rooms: From Observation to Simulation

Much working time is spent in meetings and, as a consequence, meetings have become the subject of multidisciplinary research. Virtual Meeting Rooms (VMRs) are 3D virtual replicas of meeting rooms, where various modalities such as speech, gaze, distance, gestures and facial expressions can be controlled. This allows VMRs to be used to improve remote meeting participation, to visualize multimedia data and as an instrument for research into social interaction in meetings. This paper describes how these three uses can be realized in a VMR. We describe the process from observation through annotation to simulation and a model that describes the relations between the annotated features of verbal and non-verbal conversational behavior.\ud As an example of social perception research in the VMR, we describe an experiment to assess human observers’ accuracy for head orientation

Virtual Meeting Rooms: From Observation to Simulation

Virtual meeting rooms are used for simulation of real meeting behavior and can show how people behave, how they gesture, move their heads, bodies, their gaze behavior during conversations. They are used for visualising models of meeting behavior, and they can be used for the evaluation of these models. They are also used to show the effects of controlling certain parameters on the behavior and in experiments to see what the effect is on communication when various channels of information - speech, gaze, gesture, posture - are switched off or manipulated in other ways. The paper presents the various stages in the development of a virtual meeting room as well and illustrates its uses by presenting some results of experiments to see whether human judges can induce conversational roles in a virtual meeting situation when they only see the head movements of participants in the meeting

Representing the bilingual's two lexicons

A review of empirical work suggests that the lexical representations of a bilingual’s two languages are independent (Smith, 1991), but may also be sensitive to between language similarity patterns (e.g. Cristoffanini, Kirsner, and Milech, 1986). Some researchers hold that infant bilinguals do not initially differentiate between their two languages (e.g. Redlinger & Park, 1980). Yet by the age of two they appear to have acquired separate linguistic systems for each language (Lanza, 1992). This paper explores the hypothesis that the separation of lexical representations in bilinguals is a functional rather than an architectural one. It suggests that the separation may be driven by differences in the structure of the input to a common architectural system. Connectionist simulations are presented modelling the representation of two sets of lexical information. These simulations explore the conditions required to create functionally independent lexical representations in a single neural network. It is shown that a single network may acquire a second language after learning a first (avoiding the traditional problem of catastrophic interference in these networks). Further it is shown that in a single network, the functional independence of representations is dependent on inter-language similarity patterns. The latter finding is difficult to account for in a model that postulates architecturally separate lexical representations