<div class="csl-bib-body">
<div class="csl-entry">Koller, M., Weiss, A., & Vincze, M. (2022). I See What You Did There: Towards a Gaze Mechanism for Joint Actions in Human-Robot Interaction. In S. T. Köszegi & M. Vincze (Eds.), <i>Trust in Robots</i> (pp. 149–177). TU Wien Academic Press. https://doi.org/10.34727/2022/isbn.978-3-85448-052-5_7</div>
</div>
We imagine that service robots must collaborate with humans in physical object manipulation tasks to be of assistance
in everyday scenarios, such as setting a table. This collaboration requires the capability of joint attention to
smoothly accomplish a shared goal. One special modality for joint attention is the gaze behavior of an actor. Herein,
we discuss the human gaze in physical tasks and its underlying cognitive mechanisms, a novel probabilistic robotic
gaze controller in object-centred collaborative physical tasks, and its inclusion in a well-known joint action human-robot
interaction (HRI) benchmark. First, we discuss human gaze behavior as an important modality for signaling, detecting,
and monitoring joint attention processes. This is followed by an overview of joint attention implementations
in HRI and commonly used artificial intelligence methods for planning and plan recognition. These methods are used
to mimic qualities of different components in psychological joint attention models in humans. In object manipulation
tasks, the gaze behavior is not only used to gather information about the environment, but also has a communicative
role, as the gaze direction can be interpreted by the interaction partner. The intended actions and beliefs about the
current world state are communicated through the gaze. We argue that robotic gaze behavior, which humans easily
interpret, will improve the interaction capability of a social robot. We investigate this claim in an already established
HRI joint action benchmark scenario of collaboratively building a tower out of different blocks. To this end, we propose
a stochastic gaze controller for joint action tasks and present results of a pilot study.
en
dc.language.iso
en
-
dc.rights.uri
http://creativecommons.org/licenses/by-sa/4.0/
-
dc.subject
human-robot interaction
en
dc.subject
joint attention
en
dc.subject
joint action
en
dc.subject
gaze
en
dc.subject
eye-tracking
en
dc.title
I See What You Did There: Towards a Gaze Mechanism for Joint Actions in Human-Robot Interaction
en
dc.type
Book Contribution
en
dc.type
Buchbeitrag
de
dc.rights.license
Creative Commons Attribution-ShareAlike 4.0 International
en
dc.rights.license
Creative Commons Namensnennung - Weitergabe unter gleichen Bedingungen 4.0 International