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Happily Error After: Framework Development and User Study for Correcting Robot Perception Errors in Virtual Reality
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-3432-6151
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-6158-4818
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-1170-7162
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.ORCID iD: 0000-0003-2428-0468
2023 (English)In: 2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 1573-1580Conference paper, Published paper (Refereed)
Abstract [en]

While we can see robots in more areas of our lives, they still make errors. One common cause of failure stems from the robot perception module when detecting objects. Allowing users to correct such errors can help improve the interaction and prevent the same errors in the future. Consequently, we investigate the effectiveness of a virtual reality (VR) framework for correcting perception errors of a Franka Panda robot. We conducted a user study with 56 participants who interacted with the robot using both VR and screen interfaces. Participants learned to collaborate with the robot faster in the VR interface compared to the screen interface. Additionally, participants found the VR interface more immersive, enjoyable, and expressed a preference for using it again. These findings suggest that VR interfaces may offer advantages over screen interfaces for human-robot interaction in erroneous environments.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2023. p. 1573-1580
Series
IEEE RO-MAN, ISSN 1944-9445
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-341975DOI: 10.1109/RO-MAN57019.2023.10309446ISI: 001108678600198Scopus ID: 2-s2.0-85186968933OAI: oai:DiVA.org:kth-341975DiVA, id: diva2:1825987
Conference
32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), AUG 28-31, 2023, Busan, SOUTH KOREA
Note

Part of proceedings ISBN 979-8-3503-3670-2

QC 20240110

Available from: 2024-01-10 Created: 2024-01-10 Last updated: 2024-03-22Bibliographically approved

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Wozniak, Maciej K.Stower, RebeccaJensfelt, PatricAbelho Pereira, André Tiago

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Wozniak, Maciej K.Stower, RebeccaJensfelt, PatricAbelho Pereira, André Tiago
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