复杂人机协作中基于心智理论的辅助通信
Theory of Mind Based Assistive Communication in Complex Human Robot Cooperation
摘要：
当与人类合作时，机器人不仅要关心它的环境和任务，还要理解合作伙伴的推理。为了支持其人类伙伴执行复杂任务，机器人可以分享它所知道的信息。然而，简单地传达所有信息将使人类烦恼和分心，因为他们可能已经意识到，而不是所有信息都与当前情况相关。人类何时需要信息以及需要什么类型的信息的问题通过基于心理理论的沟通概念来解决，该概念根据相关性评估和人类信仰的估计来选择信息共享行动。我们将其集成到通信助理中，以在合作环境中支持人类并评估性能优势。我们设计了一个人类机器人寿司制作任务，这对人类来说是一个挑战，并产生不同的情况下，人类是不知道的，沟通可能是有益的。我们评估的影响，以人为本的沟通理念的性能与用户研究。与没有信息交换的情况相比，有帮助的参与者可以更早地从无意识中恢复过来。这种方法比其他方法更好地尊重通信成本和平衡中断。通过提供适合特定情况的信息，机器人不会指示，而是使人类能够做出正确的决定。
英文摘要：
When cooperating with a human, a robot should not only care about its environment and task but also develop an understanding of the partner's reasoning. To support its human partner in complex tasks, the robot can share information that it knows. However simply communicating everything will annoy and distract humans since they might already be aware of and not all information is relevant in the current situation. The questions when and what type of information the human needs, are addressed through the concept of Theory of Mind based Communication which selects information sharing actions based on evaluation of relevance and an estimation of human beliefs. We integrate this into a communication assistant to support humans in a cooperative setting and evaluate performance benefits. We designed a human robot Sushi making task that is challenging for the human and generates different situations where humans are unaware and communication could be beneficial. We evaluate the influence of the human centric communication concept on performance with a user study. Compared to the condition without information exchange, assisted participants can recover from unawareness much earlier. The approach respects the costs of communication and balances interruptions better than other approaches. By providing information adapted to specific situations, the robot does not instruct but enable the human to make good decision.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
