Robots in my Contact List: Using Social Media Platforms for Human-Robot
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1) The document proposes using existing social media platforms like SMS, IM, Facebook, and shared calendars to enable human-robot interaction for domestic robots. 2) A study was conducted where participants could remotely control and communicate with robots through these various social media interfaces. Participants found the system exciting and intuitive to use, especially for familiar platforms like SMS and IM. 3) However, concerns around privacy and safety arose from robots publicly sharing information. The complementary abilities of different platforms also depended more on individuals' prior experience than system design. More life-like robot features and integration of additional platforms were recommendations for future work.
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Robots in my Contact List: Using Social Media Platforms for Human-Robot
- 1. Robots in my Contact List: Using Social Media Platforms for Human-Robot Interaction in Domestic Environment Xiaoning Ma, Xin Yang, Shengdong Zhao, Chi-Wing Fu, Ziquan Lan, Yiming Pu 1
- 2. Background Domestic robots •Increasing popularity Divorced Never Married Separated Married Widowed Women 29.83 hrs 27.80 hrs 21.17 hrs Men 17.67 hrs 21.53 hrs 17.83 hrs 2
- 3. Background CHI 2009 3
- 4. Magic Cards 4
- 5. Problems and Challenges? • Problem • A system to manage domestic robots remotely • Challenges • Handle interaction across varying context and scenarios of use • Easy to learn-and-use system for ordinary home users • Extensible system 5
- 6. Question: how to design HRI interfaces for such scenarios? • Approach 1: build new interfaces • Potential problems • users have to learn something new • has not been extensively tested • Advantages • specific design for optimized performance • Approach 2: leveraging existing popular interfaces • Potential advantages • familiar • extensively tested • less development and maintenance efforts • Potential problems • might not be optimized 6
- 7. Social Media Platforms are Widely Popular • Short message service (SMS) – 3.4 billion unique users up till 2010 • Instant messenger (IM) – 1 billion users up till 2009 • Facebook – 500 million users up till 2010 • Shared calendar – 176 million Gmail users up till 2010 7
- 8. How to solve the problem here? • Extending interaction further to domestic robots through social media platforms Human • Familiar platforms SMS MSN • Widely available Human • Multiple complementary platforms for flexibility Facebook Calendar … Different social media platforms Robots 8
- 9. Video Demo 9
- 10. System Conceptual Design •General architecture 10
- 11. System Architecture •Client server architecture see video 11
- 12. System Architecture •Client server architecture see video 12
- 13. System Architecture •Client server architecture see video 13
- 14. Sample tasks Usability test Controlled study Video 14
- 15. User Study 1: Usability Experiment • Goals (to find out…) • General feeling • How intuitive and natural ….? • How do different tools complement with each other? • Strengths and Weaknesses [Users feel …] • Any emotional attachment feeling? • Approach • Participants • 12 participants, 2.5 hours • 25 SGD • Procedure • Usability test • Controlled user study • Questionnaires • Semi-structured interview 15
- 16. Environment Simulated home environment Ceiling camera X 2 Central Server + Tracking system server Mobile server 16
- 17. Results •General feeling •“exciting”, “eyes-opening” •“very cool to be able to communicate with robots anytime, anywhere with their cell phones” •“especially entertaining to see robots having their own IM account and Facebook page” •safety and privacy concerns – “”embarrassing to see robots update/send information on my wall” 17
- 18. Results •General feeling •“exciting”, “eyes-opening” •“very cool to be able to communicate with robots anytime, anywhere with their cell phones” •“especially entertaining to see robots having their own IM account and Facebook page” •safety and privacy concerns – “”embarrassing to see robots update/send information on my wall” •How intuitive and natural… •Complete tasks within 2 minutes •SMS and IM are the easiest to use – correlation effect with prior experience 18
- 19. Strengths and weaknesses of each interface 19
- 20. Results •Emotional attachment and human-likeness level • Interaction method • Interface design • Responsiveness 20
- 21. User Study 2: Field Study • Participants • 2 participants • 3 days each person • 100 SGD • Environment • a 3m x 5m bedroom in an apartment • Procedure • Day 1: Carry out specified tasks remotely • Day 2: Free style • Interview 21
- 22. Results • Prior experience overweighs the complementary ability of different platforms • Participant 1: 50% SMS + 50% Facebook • Participant 2: 100% MSN • More life-like features and more platforms are expected 22
- 23. Conclusion • Key findings • Extending existing social media platforms has potential • Complementary tools for supporting different scenarios • Enhanced user perception of robots’ social intelligence • Future work • Long term longitude study for home deployment 23
- 24. Q&A For more information • http://hci.comp.nus.edu.sg • http://www.shengdongzhao.com/shen-publications/ 24
Editor's Notes
- Robots are starting to enter our homes, evidenced by the increasing popularity of robots like the vacuuming robot Roomba. This is a table about housework from the National Survey of Families and Households in the United States. This shows that most of us do spend a significant amount of time doing housework every week. In the future, homes are likely to be equipped with one or more domestic robots to serve the needs of families.
- Robots are starting to enter our homes, evidenced by the increasing popularity of robots like the vacuuming robot Roomba. This is a table about housework from the National Survey of Families and Households in the United States. This shows that most of us do spend a significant amount of time doing housework every week. In the future, homes are likely to be equipped with one or more domestic robots to serve the needs of families.
- Projects and interestsRobots: Magic Card system -> Social robotic Pen-based or touch-based computing:Marking menu Pen-based search interface: inkseineMobile device: earPod and eyes-free interaction Multi-touch surface computing: Sand Animation Social computing: game for volunteerism (how to explain this)
- Well,duethe increasing popularityof robots in the home, one issue in the future is how to manage thesedomestic robots, especially in the cases that people have to do that remotely. Therefore, a system which allows people to manage domestic robots remotely offers great convenience to families who may not stay at home all the time. However, designing such system has several challenges as well:First, remote access to the robots should be possible anytime, anywhere and across varying contexts and scenarios. Different contexts and scenarios impose different requirements for the design of the system. Second, this system must be easy to learn-and-use sincedomestic robots target ordinary home users, who often havelimited computing knowledge and are afraid to learn new techniques. Third, this system must be extensible as robot technology is rapidly evolving and new robots with better functionalitycan appear anytime in the future. <<End>>for example, designing the interaction method to support remote interaction by a user in a stationary office environment is very different from that when s/he is walking or traveling on a bus.
- Well,duethe increasing popularityof robots in the home, one issue in the future is how to manage thesedomestic robots, especially in the cases that people have to do that remotely. Therefore, a system which allows people to manage domestic robots remotely offers great convenience to families who may not stay at home all the time. However, designing such system has several challenges as well:First, remote access to the robots should be possible anytime, anywhere and across varying contexts and scenarios. Different contexts and scenarios impose different requirements for the design of the system. Second, this system must be easy to learn-and-use sincedomestic robots target ordinary home users, who often havelimited computing knowledge and are afraid to learn new techniques. Third, this system must be extensible as robot technology is rapidly evolving and new robots with better functionalitycan appear anytime in the future. <<End>>for example, designing the interaction method to support remote interaction by a user in a stationary office environment is very different from that when s/he is walking or traveling on a bus.
- (Mouse click while talking…)Popular social media platforms are originally designed for humans to interact with each other, we have seen they are widely adopted by ordinary users. we therefore propose a ubiquitously accessible, and easy-to-use system to remotely manage domestic robots by leveraging on these platforms.We foresee that leveraging on existing social media platforms has several advantages. First, these platforms are widely used and many people are already familiar with how to use them; therefore, reusing them as the interaction media to domestic robots can minimize users’ efforts to learn new interfaces. Second, these platforms are widely available, and have already been deployed to most operating systems and computing devices, making our system more ubiquitously accessible. Third, different social media platforms are designed to serve different kinds of needs in different scenarios. Supporting multiple complementary platforms in our system can offer users great flexibility in meeting their needs.<<End>><<In addition, we have carefully architected our system to be modular, so that putting in additional social media platforms or robots requires only minimum engineering efforts.>>
- Before I talk into the details about the software design, I would like to show a short video about the system implementation.<<After the video>>As our goal is to have a flexible, extensible, multi-client system for managing domestic robots, with each user free to choose the desirable client to interact with any robot at home, we have the software architecture of the whole system designed as follows. <<Mouse click>>The client side of our system is super lightweight in the sense that it requires no additional development efforts. Users can simply use any supported existing social media platformsto interact with robots. While there are a wide variety of social media platformsavailable today, we choose the following four platforms (SMS, MSN, Google Calendar, and Facebook) to initially implement our system due to their popularity and ability to serve a range of user needs.<<End>>
- The main software architecture is here. It consists of the following components: client connection, message processor, task execution center, vision-based tracking system, and robot controller. Once a message is sent from the client-side, it will be received by its corresponding receiver within the client connection component on the server side. The client connection component will then pass the message along with the information of the sender and client type to the message processor to be further analyzed and converted into executable tasks. After a message is processed, the message processor will send feedback to the user via the client connection component. The task will eventually go to Robot Controller, which handles specific commands to each robot.The real time location information of the robots and objects in the environment are supplied by the vision-based tracking component. I will explain some of the components in details later.
- On the right side, we have a hardware set up. There is a dedicated main server machine used as our central server,an Nexus One smart phone which serves as a mobile server for handing incoming message from GSM network.Two customized robots as you have seen in the video. The robots talks with our centralized server through Bluetooth connection. There is small laptop attached to the robots, which is for enhanced processing ability of the robot. The small laptop communicate with the central server through local wireless network.Aside from that, we have vision tracking server that is connected with two ceiling cameras. This server is to provide the real time information about locations of two robots by tracking the 2D markers attached on them.
- Here are the different sample tasks we used in our study. For the usability test, we ask users to finish these tasks while at the same time observing.This one shows the compound tasks for users to finish when they are put under different scenarios. OK, let’s now see a short video to get a better idea of how we did our user study.
- Although adapting human-to-human interaction tools to human robot interaction has many benefits, it also faces a number of potential risks. For this user study, our goal to find out the answers to the following questionsWill users feel comfortable using human-to-human tools to interactwith robots?Do users still feel natural to “chat” with robots using the proposed tool to work on housework?How do the different social media platforms complement each other when interacting with domestic robots?What are users view on the strengths and weaknesses?Do users feel any emotional attachment with robots? Or do they perceive robots more human like instead of a code machine?==The approach we take is that We invited 12 participants with different background. This table summarizes their prior experience with the four social media platforms. We take our procedure as first conduct a usability test where users are asked to perform simple tasks while they can observe the behaviors of robots. This also serve as a training exercise for participants.Followed by this, we move users to another room and conduct this controlled user study during which we ask users to finish compound tasks across different scenarios remotely.The users are required to finish one questionnaire once they have finished one scenario.Semi-structured interview is also used to gain more qualitative data and clarifications from participants when their comments or input seems confusing for the experimenters.<<End>>First, how do users generally feel about our approach? Since users’ experience of social media platforms is mostly between humans, will they feelcomfortable or awkward to using these platforms to interact with robots?First, as existing domestic robots are still significantly different from human in terms of appearance, capabilities and intelligence, will users feel comfortable using human-to-human communication tools to interact with robots? Second, while in real life, it’s common for users to talk in natural language to ask other people to help with a housework task. Do they still feel natural and intuitive to “chat” with robots using the proposed tools to work on housework tasks? Third, we know that these tools complement each other when communicating with other humans. Do they still complement each other when interacting with domestic robots? Fourth, What are users’ views on the strengths and weaknesses of these interfaces and how do they affect users’ preferences in using these interfaces?
- As you already see in the video, here are some of the hardware and simulated home environment. Next, let me show the close look of how our customized robots look like.
- Here is some of the result we get from the user study.Regarding users’ general feeling about our proposed interaction paradigm, most participants are very positive and excited about the idea. They described their general feeling as “exciting,” “eyes-opening.” They found it “very cool to be able to communicate with robots anytime, anywhere with their cell phones” and “especially entertaining to see robots having their own IM account and Facebook profile page.” Meanwhile, the participants also mentioned about the safety and privacy concerns. One user described the experience as “embarrassing” when the robots kept sending messages to her facebook page as the messages and pictures would be received by her friends.Participants find interacting with domestic robots using these common social media platforms a natural and intuitive idea. All participants can complete assigned tasks using all interfaces in a short time (within 2 minutes) without prior training or help from the experimenter (except one participant failed the assigned task with Facebook). Most participants commented that SMS and MSN are the easiest to learn and use, since all of them have significant prior experience in using them<<Strong co-corelation with prior experience>>This table summarize the users’ view on the strengths and weaknesses. From this table, we can see each social media platform has its own strengths, and by integrating them together we manage to provide users with maximum flexibility on choosing the most preferred interface to interact with robots.
- Here is some of the result we get from the user study.Regarding users’ general feeling about our proposed interaction paradigm, most participants are very positive and excited about the idea. They described their general feeling as “exciting,” “eyes-opening.” They found it “very cool to be able to communicate with robots anytime, anywhere with their cell phones” and “especially entertaining to see robots having their own IM account and Facebook profile page.” Meanwhile, the participants also mentioned about the safety and privacy concerns. One user described the experience as “embarrassing” when the robots kept sending messages to her facebook page as the messages and pictures would be received by her friends.Participants find interacting with domestic robots using these common social media platforms a natural and intuitive idea. All participants can complete assigned tasks using all interfaces in a short time (within 2 minutes) without prior training or help from the experimenter (except one participant failed the assigned task with Facebook). Most participants commented that SMS and MSN are the easiest to learn and use, since all of them have significant prior experience in using them<<Strong co-corelation with prior experience>>This table summarize the users’ view on the strengths and weaknesses. From this table, we can see each social media platform has its own strengths, and by integrating them together we manage to provide users with maximum flexibility on choosing the most preferred interface to interact with robots.
- Here is some of the result we get from the user study.Regarding users’ general feeling about our proposed interaction paradigm, most participants are very positive and excited about the idea. They described their general feeling as “exciting,” “eyes-opening.” They found it “very cool to be able to communicate with robots anytime, anywhere with their cell phones” and “especially entertaining to see robots having their own IM account and Facebook profile page.” Meanwhile, the participants also mentioned about the safety and privacy concerns. One user described the experience as “embarrassing” when the robots kept sending messages to her facebook page as the messages and pictures would be received by her friends.Participants find interacting with domestic robots using these common social media platforms a natural and intuitive idea. All participants can complete assigned tasks using all interfaces in a short time (within 2 minutes) without prior training or help from the experimenter (except one participant failed the assigned task with Facebook). Most participants commented that SMS and MSN are the easiest to learn and use, since all of them have significant prior experience in using them<<Strong co-corelation with prior experience>>This table summarize the users’ view on the strengths and weaknesses. From this table, we can see each social media platform has its own strengths, and by integrating them together we manage to provide users with maximum flexibility on choosing the most preferred interface to interact with robots.
- This page summarize the users’ perception of human-likeness level of each interface. Our statistical result shows that Our four interfaces are significantly more human like than web based interface. Among the four interfaces, IM is significantly more human like than SMS and calendar while not significantly different from Facebook.During the semi-structured interview, we identified the following factors that contribute to the differences in users’ perception of robots.Interaction method: 9 out of 12 participants consider “typing (using natural language) to be more human” than point & click.Interface design: Participants commented that both IM and Facebook are more human-like because they contain more “human” elements, such as icons and images representing people on their contact lists with profile pages. They also found both interfaces richer and more entertainingResponsiveness: The feedback speed also appears to contribute. Most users rank IM higher than Facebook because they feel that IM is more responsive.These factors can be useful for designers to consider when they want to make robots more sociable and human-like.<<backup>>Overall, IM has the most of the above factors that contribute to human-likeness, while Calendar has the least among the four social media platforms. Designers are suggested to consider the above factors for their interfaces if they want to augment the perception of robots, making them appear more sociable and human-like.
- Now let me summarize the result findings here.Our evaluation shows that using social media platforms to interact with domestic robots is a promising idea. For users with prior experience on social media platforms, they can naturally and almost effortlessly extend their usage of these interfaces to interact with robots<<, indicating re-using existing popular interfaces to achieve new purposes and functionalities has great potentials. >>Providing a set of complementary interfaces gives users greater flexibilities and better user experience. <<We also found that each interface has its pros and cons, and is suitable for different tasks and conditions. >>Through using these human to human social media platforms for interaction, the users’ perception of human likeness level increased as well.We have developeda working system integrating four complementary social media platformsto naturally extend the social connections among humans further to domestic robots. <<Our work explores the application of popular social media platforms to support interaction with domestic robots. >>We demonstrate with our results in the user studies that this approach can contribute to deliver a more social, user-familiar and flexible interface. In the future, we hope to conduct a longitudinal home deployment to explore the long term effect of HRI using social media platforms on human’s perception and emotional attachment to robots.<<End>>In addition, while most participants like the idea of using social media platforms to interact with robots, there are also concerns, for example, the two participants raised the issues of privacy and security in sharing information at home, especially images and videos, via robots on Facebook. How to design and manage the privacy settings with robots, their hosts, and their hosts’ extended social networks could be an interesting future topic for research. With advancement in robot technologies, we envision the potentials of our approach as a practical and natural interaction style with robots, more easily to be adopted by the public.
- Now let me summarize the result findings here.Our evaluation shows that using social media platforms to interact with domestic robots is a promising idea. For users with prior experience on social media platforms, they can naturally and almost effortlessly extend their usage of these interfaces to interact with robots<<, indicating re-using existing popular interfaces to achieve new purposes and functionalities has great potentials. >>Providing a set of complementary interfaces gives users greater flexibilities and better user experience. <<We also found that each interface has its pros and cons, and is suitable for different tasks and conditions. >>Through using these human to human social media platforms for interaction, the users’ perception of human likeness level increased as well.We have developeda working system integrating four complementary social media platformsto naturally extend the social connections among humans further to domestic robots. <<Our work explores the application of popular social media platforms to support interaction with domestic robots. >>We demonstrate with our results in the user studies that this approach can contribute to deliver a more social, user-familiar and flexible interface. In the future, we hope to conduct a longitudinal home deployment to explore the long term effect of HRI using social media platforms on human’s perception and emotional attachment to robots.<<End>>In addition, while most participants like the idea of using social media platforms to interact with robots, there are also concerns, for example, the two participants raised the issues of privacy and security in sharing information at home, especially images and videos, via robots on Facebook. How to design and manage the privacy settings with robots, their hosts, and their hosts’ extended social networks could be an interesting future topic for research. With advancement in robot technologies, we envision the potentials of our approach as a practical and natural interaction style with robots, more easily to be adopted by the public.