人机交互的社会适应框架（CS RO）

在我们的日常生活中，我们习惯于与同龄人进行复杂的、个性化的、适应性的互动。 对于一个社交机器人来说，能够再现这种丰富的，类似人类的互动，它应该意识到我们的需求和情感状态，并且能够不断地调整自己的行为来适应它们。 解决这个问题的一个建议是，让机器人学习如何选择行为，以最大限度地提高与同伴交流的愉悦性，并在内部激励系统的指导下，为其决策过程提供自主权。 我们感兴趣的是研究这种自适应机器人框架如何针对不同的用户发挥作用和个性化。 此外，我们还探讨了在认知框架中加入适应性和个性化因素是否会给人机交互带来额外的丰富性，还是会带来机器人的人类同伴所不能接受的不确定性和不可预测性。 为此，我们为人形机器人 iCub 设计了一个社会适应框架，使其能够感知和重用来自人的情感和交互信号，作为基于内部社会动机的适应输入。 我们提出了一个与 iCub 的比较互动研究，其中用户扮演机器人的守护者，而 iCub 的社会适应是由内部舒适度引导的，这个舒适度随着 iCub 从守护者那里接收到的刺激量而变化。 我们调查并比较了当机器人没有个性化交互时，以及当机器人具有自适应能力时，人们会如何感知机器人的内部动态。 最后，我们建立了一个自适应框架可能带来的潜在好处，与人形机器人重复互动的环境。

原文题目：A Socially Adaptable Framework for Human-Robot Interaction

原文：In our everyday lives we are accustomed to partake in complex, personalized, adaptive interactions with our peers. For a social robot to be able to recreate this same kind of rich, human-like interaction, it should be aware of our needs and affective states and be capable of continuously adapting its behavior to them. One proposed solution to this problem would involve the robot to learn how to select the behaviors that would maximize the pleasantness of the interaction for its peers, guided by an internal motivation system that would provide autonomy to its decision-making process. We are interested in studying how an adaptive robotic framework of this kind would function and personalize to different users. In addition we explore whether including the element of adaptability and personalization in a cognitive framework will bring any additional richness to the human-robot interaction (HRI), or if it will instead bring uncertainty and unpredictability that would not be accepted by the robot`s human peers. To this end, we designed a socially-adaptive framework for the humanoid robot iCub which allows it to perceive and reuse the affective and interactive signals from the person as input for the adaptation based on internal social motivation. We propose a comparative interaction study with iCub where users act as the robot's caretaker, and iCub's social adaptation is guided by an internal comfort level that varies with the amount of stimuli iCub receives from its caretaker. We investigate and compare how the internal dynamics of the robot would be perceived by people in a condition when the robot does not personalize its interaction, and in a condition where it is adaptive. Finally, we establish the potential benefits that an adaptive framework could bring to the context of having repeated interactions with a humanoid robot.

原文作者： Ana Tanevska

原文：https://arxiv.org/abs/2003.11410