验证虚拟现实技术在社交感知机器人导航中研究多模态人机交互的有效性

中文摘要 AI 辅助

虚拟现实（VR）为研究人机交互提供了一个灵活且可控的平台。先前的工作探索了VR在社交感知机器人导航方面的应用。然而，VR是否能捕捉到现实世界中人类与机器人共同导航时的多模态交互动态，仍未得到充分理解。在这项工作中，我们展示了一个VR原型，并评估其在社交感知导航中研究多模态人机交互（HRI）的适用性。具体而言，我们研究VR是否保留了现实世界中人类与机器人共同导航时观察到的多模态交互动态。我们进行了一项受试者内研究（N = 21），参与者在配备动作捕捉的场地以及沉浸式VR环境中的虚拟复制品中与PR2移动操纵机器人进行交互。研究了两种常见的共同导航场景：正交交叉和擦肩而过交互。参与者评估了机器人的社交感知和交互舒适度，同时分析轨迹和头部方向数据以检查交互过程中的行为反应。我们的结果表明，参与者在VR和现实世界中对机器人的社交感知导航有相似的感受。此外，VR捕捉人类交互行为的方式与现实世界的观察结果一致。这些发现表明，VR可以成为研究社交导航和HRI中更丰富多模态行为的可靠且灵活的平台。

英文摘要

Virtual Reality (VR) offers a flexible and controllable platform for studying human-robot interaction. Prior work has explored VR for socially aware robot navigation. However, whether VR captures the multimodal interaction dynamics observed in real-world human-robot co-navigation remains insufficiently understood. In this work, we present a VR prototype and evaluate its suitability for studying multimodal human-robot interaction (HRI) in socially aware navigation. Specifically, we investigate whether VR preserves the multimodal interaction dynamics observed in real-world human-robot co-navigation. We conducted a within-subjects study (N = 21) in which participants interacted with a PR2 mobile manipulator robot in both a motion capture equipped arena and its virtual replica in an immersive VR environment. Two common co-navigation scenarios were examined : orthogonal crossing and pass-by interactions. Participants evaluated the robot's perceived social awareness and interaction comfort, while trajectory and head-orientation data were analysed to examine behavioral responses during the interaction. Our results show that participants perceive the robot's socially aware navigation similarly in VR and in the real world. Furthermore, VR captures human interaction behaviors in ways consistent with real-world observations. These findings suggest that VR can be a reliable and flexible platform for studying richer multimodal behaviors in social navigation and HRI.

发表机构

• LAAS-CNRS, Universite de Toulouse（法国国家科学研究中心图卢兹分部，图卢兹大学）
• Inria Nancy（法国国家信息与自动化研究所南锡分部）

机构由 AI 辅助整理，请以论文原文为准。