OAA：人-无人机远程操作中语音引导的三个阶段
OAA: Three Phases of Vocal Guidance in Human-Drone Teleoperation
- GIPSA-Lab（GIPSA实验室）
- LIG（LIG研究所）
- LPNC（LPNC研究所）
- Univ. Grenoble Alpes（格勒诺布尔大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
该研究通过两种实验配置的数据分析，发现人在空间引导中存在定向、接近、调整三个固有阶段，为语音引导远程操作的OAA感知自适应控制提供了依据。
AI中文摘要：
语音引导远程操作需要适配人类引导动态变化的系统，但大多数语音控制机器人系统将语音命令视为固定流，忽略引导者在任务推进中交际行为的变化。利用两种实验配置（人-人引导：手指指向，N=10组；人-无人机远程操作：游戏手柄控制，N=29组）的动作捕捉和语音数据，研究表明自发语音引导始终组织为三个运动学和语言学上不同的阶段：定向（Orientation）、接近（Approach）和调整（Adjustment）。这些阶段通过对3D轨迹信号的变化点检测自动识别，并经统计验证（Kruskal-Wallis检验，p<0.001）。三种词汇家族在两种配置中重复出现：旋转词汇标记定向阶段，该阶段翻译词汇稀少，衰减词向调整阶段累积。结合话语间沉默，这些线索标记出仅靠语音速率无法区分的定向边界。尽管两种配置的运动接口差异极大，但相同的三阶段结构在两组中均出现，表明其是人类空间引导的固有属性，而非实验设置的人为产物。本文讨论了其对语音引导远程操作中OAA感知自适应控制的意义。
英文摘要：
Voice-guided teleoperation requires systems that adapt to the evolving dynamics of human guidance. Yet most voice-controlled robot systems treat spoken commands as a stationary stream, ignoring how the guide's communicative behavior changes as the task progresses. Using motion capture and speech data from two experimental configurations, humanhuman guidance (finger pointing, N =10 dyads) and humandrone teleoperation (gamepad control, N =29 dyads), we show that spontaneous vocal guidance consistently organizes into three kinematically and linguistically distinct phases: Orientation, Approach, and Adjustment. These phases are identified automatically via change point detection on 3D trajectory signals, and validated statistically (Kruskal-Wallis, p<.001). Three lexical families replicate across configurations: rotation vocabulary marks Orientation, translation vocabulary is scarce there, and attenuators accumulate toward Adjustment. Together with inter-utterance silence, these cues mark the Orientation boundary that speech rate alone leaves unmarked. The same three-phase structure emerges in both configurations despite radically different motor interfaces, suggesting it is an intrinsic property of human spatial guidance rather than an artifact of the experimental setup. We discuss implications for OAA-aware adaptive control in voice-guided teleoperation.
