Exploring Variation of Natural Human Commands to a Robot in a Collaborative Navigation Task
[Technical Report, Research Paper]
UNIVERSITY OF SOUTHERN CALIFORNIA LOS ANGELESARMY RESEARCH LAB ADELPHI MD
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Robot-directed communication is variable, and may change based on human perception of robot capabilities. To collect training data for a dialogue system and to investigate possible communication changes over time, we developed a Wizard-of-Oz study that a simulates a robots limited understanding, and b collects dialogues where human participants build a progressively better mental model of the robots understanding. With ten participants, we collected ten hours of human-robot dialogue. We analyzed the structure of instructions that participants gave to a remote robot before it responded. Our findings show a general initial preference for including metric information e.g., move forward 3 feet over landmarkse.g., move to the desk in motion commands, but this decreased over time, suggesting changes in perception.