Social Robotics: 15th International Conference, ICSR 2023, Doha, Qatar, December 3–7, 2023, Proceedings, Part II (Lecture Notes in Artificial Intelligence)

The two-volume set LNAI 14453 and 14454 constitutes the refereed post-conference proceedings of the 15th International Conference on Social Robotics, ICSR 2023, held in Doha, Qatar, during December 4–7, 2023. The 68 revised full papers presented in these proceedings were carefully reviewed and selected from 83 submissions. They deal with topics around the interaction between humans and intelligent robots and on the integration of robots into the fabric of society. This year the special topic is "Human-Robot Collaboration: Sea; Air; Land; Space and Cyberspace”, focusing on all physical and cyber-physical domains where humans and robots collaborate. Preface Organization Contents – Part II Contents – Part I Cultivating Expressivity and Communication in Robotic Objects: An Exploration into Adaptive Human-Robot Interaction 1 Introduction 2 Extending Interactions for an Abstract Robject 2.1 Building an Adaptive Model 2.2 Model Integration with a Robject 3 Experimental Setup 4 Results and Discussion 4.1 Learning from Synthetic Interactions 4.2 Long-Term Interactions 5 Conclusion and Future Work References Pepper as a Learning Partner in a Children’s Hospital 1 Introduction 2 Pepper in the Health Sector 3 Realization of the Pepper Project 3.1 Foundations of the Project 3.2 Implementation of the Project 4 Test Phase with Children 5 Summary and Outlook References Teachable Robots Learn What to Say: Improving Child Engagement During Teaching Interaction 1 Introduction 2 Adaptive Response to Teaching Input 2.1 Adaptive Response Algorithm 2.2 Curiosity Notebook Teaching Interface 2.3 Teachable Robot 2.4 User Study 3 Results 3.1 Task Engagement 3.2 User Attitudes and Perceptions 3.3 Qualitative Feedback 4 Conclusions and Future Work References Social Robots in the Wild and the Novelty Effect 1 Introduction 2 Related Work 3 Method 4 Results 5 Discussion 6 Conclusion References Ethical, Legal, and Social Requirements for Assistance Robots in Healthcare 1 Introduction 2 Methods 3 Empirical Results 3.1 Danger of Job Loss or Chance to Relieve Workload 3.2 Recognition and Personalized Address 3.3 Data Collection from a Data Protection Perspective 3.4 Data Flow, Data Security and Data Access Rights 3.5 Change in Behavior 3.6 Reduction of Human Contact 3.7 Autonomy 4 Summary and Conclusion References Emotional Understanding and Behavior Learning for Haru via Social Reinforcement Learning 1 Introduction 2 Related Work 3 Methodology 3.1 Emotion Understanding Model 3.2 Behavior Learning Model 4 Evaluation 4.1 Robotic Platform 4.2 Experimental Setup 5 Results and Discussion 5.1 Emotion Understanding 5.2 Reactive Behavior Learning Based on Emotion Understanding 6 Conclusion References Talking Like One of Us: Effects of Using Regional Language in a Humanoid Social Robot 1 Introduction 2 Preliminaries 3 Related Work 4 Humanoid Robot Pepper 5 The Survey 5.1 Experimental Setup 5.2 Results 5.3 Discussion 6 Conclusions and Future Work References Robotic Music Therapy Assistant: A Cognitive Game Playing Robot 1 Introduction 2 Related Works 2.1 Robots and Cognitive Training 2.2 Robots and Music Therapy 3 Cognitive Game Design 3.1 Experimental Setup and Role of the Robot 3.2 Game Design Choices 3.3 Input from Music Therapists 4 Game Description 4.1 Game 1: Guess the Mood 4.2 Game 2: Clap to the Beat 4.3 Game 3: Simon Says Clap 4.4 Game 4: Fix the Song 5 Experimental Validation 5.1 Questionnaire and Interview 5.2 Setup 6 Discussion 6.1 Ethical and Safety Considerations 6.2 Limitations 6.3 Conclusion and Future Work References Empowering Collaboration: A Pipeline for Human-Robot Spoken Interaction in Collaborative Scenarios 1 Introduction 2 Related Work 3 Proposed Architecture 3.1 Speech-To-Text 3.2 Natural Language Understanding 3.3 Decision Manager 3.4 Dialog Manager 3.5 Task Manager 3.6 Issue Harvester 3.7 Text-To-Speech 4 Preliminary Experiments and Application Examples 5 Conclusion and Future Work References A Human-Robot Mutual Learning System with Affect-Grounded Language Acquisition and Differential Outcomes Training 1 Introduction 2 Related Work 2.1 Homeostatic Developmental Robotics and Language 2.2 Differential Outcomes Training 3 Methodology 3.1 Robot Software Architecture 3.2 Experimental Setup 4 Results 4.1 Robot Language Acquisition 4.2 Participant Experience 5 Discussion and Future Work References Social Perception and Scene Awareness in Human-Robot Interaction 1 Introduction and Related Works 2 Perception System 2.1 Eye Contact Assessment 2.2 Facial Expression Recognition 2.3 Scene Perception 2.4 Interruption Events 2.5 Paralinguistic Cues 3 Analysis of Social Perception 4 Experimentation and Evaluation 5 Conclusion References The Influence of a Robot's Personality on Real-Time Explanations of Its Navigation 1 Introduction 2 Related Work 2.1 Explainable Autonomous Navigation 2.2 Mental Models in HRI 3 HiXRoN Architecture 3.1 Visual Explanations 3.2 Textual Explanations 3.3 The Influence of a Robot's Personality on Its Explanations 4 Evaluation 4.1 Technical Set-Up 4.2 Results 4.3 Discussion 5 Conclusion References Evaluating Students' Experiences in Hybrid Learning Environments: A Comparative Analysis of Kubi and Double Telepresence Robots 1 Introduction 2 Related Work 3 Methods 3.1 Experimental Setup 3.2 Robotic Systems 3.3 Procedure 4 Experimental Results 4.1 Participants 4.2 Quantitative Results 4.3 Qualitative Results 5 Conclusion References Gesture Recognition for Human-Robot Interaction Through Virtual Characters 1 Introduction 2 Related Works 3 Gesture Definitions and Data Generation 3.1 VR-Simulation for Gesture Data 3.2 Virtual Data Creation 4 System Implementation 4.1 Experimentation 4.2 Results 5 Conclusion and Future Work References Measuring Willingness to Accept Social Robot’s Recommendations (WASRR) 1 Introduction 2 Related Work 3 Methodology 3.1 Steps 1 and 2: Literature Review and Thesaurus Search for Scale Development 3.2 Step 3: Expert Panel 4 Results 5 Discussion and Conclusion References Where Should I Stand? Robot Positioning in Human-Robot Conversational Groups 1 Introduction 2 Related Work 3 Methodology 3.1 Problem Statement 3.2 Preprocessing 3.3 Heuristic Approach 3.4 Data-Driven Approach 4 Evaluation 4.1 Babble Dataset 5 Discussion 6 Conclusion References Real-World Evaluation of a University Guidance and Information Robot 1 Introduction 2 Deployment Overview 3 System Performance and Conversation Ratings 4 Questionnaire Responses 4.1 Likeability 4.2 Interaction Factors 4.3 Feedback on QR Codes 4.4 Out of Hours Support 4.5 Potential Use Cases 5 Observations 5.1 General Observations 5.2 Real World Considerations 6 Conclusions and Future Work References RoboSync: Efficient Real-Time Operating System for Social Robots with Customizable Behaviour 1 Introduction 2 Related Work 3 System Architecture 3.1 High-Level Abstraction Layer 3.2 Machine Learning/Algorithm Configuration Layer 3.3 User Defined Behaviour Modeling Module 3.4 User Defined Sensor Check/Control Behavior 3.5 Scheduler 3.6 Communication and Synchronization 4 Implementation 4.1 High-Level Abstraction Layer 4.2 Scheduler 4.3 Optimized Communication and Synchronization Layer 5 Conclusion References Do We have to Say this is a ``Telepresence Robot''? Exploration of Factors of Face and Speech Style Through Telecommunication via Robot 1 Introduction 2 Hypotheses 3 Experiment Design 3.1 System Overview 3.2 Procedure 3.3 Measurement 3.4 Participants 4 Result 5 Discussion 6 Limitations 7 Conclusion References Implementing Pro-social Rule Bending in an Elder-Care Robot Environment 1 Introduction 2 An Implementation of PSRB Capable Ethical Governor 2.1 The Simulation Environment 2.2 Architecture for a Pro-social Rule Bending Agent 3 Comparison of PSRB Behaviour with Other Approaches 3.1 Experiment Setup 3.2 Cases with and Without Dilemma 4 Discussion of Behaviour 5 Conclusions and Future Work References Robotic-Human-Machine-Interface for Elderly Driving: Balancing Embodiment and Anthropomorphism for Improved Acceptance 1 Introduction 2 Method 2.1 RHMI Design 2.2 Prototype Design Condition Creations 3 Study 1: Video-Based Online Experiment 3.1 Experimental Scenario 3.2 Experimental Protocol 4 Results: Study 1 4.1 Acceptance 4.2 User Experience Quality 4.3 Godspeed Questionnaire 4.4 Correlations 5 Study 2: Driving Simulator Experiment 5.1 Integration of RHMIs in the Driving Simulator 5.2 Experimental Scenario 5.3 Experimental Protocol 6 Results: Study 2 6.1 Correlations 6.2 Participants Comments and Feedback 7 Discussion 8 Conclusion References AI Planning from Natural-Language Instructions for Trustworthy Human-Robot Communication 1 Introduction 2 Automated Planning Problem Generation 2.1 Natural Language Disambiguation and Semantics Parsing 2.2 Identification of PDDL Problem Components 2.3 Plan Script Generation 3 Experiment 3.1 Experiment Setup 3.2 Performance of CRL Model 4 Conclusion References Agricultural Robotic System: The Automation of Detection and Speech Control 1 Introduction 2 Analysis of Agricultural Robotic System 3 Pattern Recognition and Robot Intelligence 3.1 Computer Vison Detection 3.2 Speech Recognition 3.3 Image Geometry 4 The Practical Experiments of Robot 4.1 Computer Vision Detection 4.2 Evaluation of Speech Recognition 4.3 Evaluation of Agricultural Robotic System 5 Conclusion References Evaluating Telepresence Robot for Supporting Formal and Informal Caregivers in the Care Support Service: A Six-Month Case Study 1 Introduction 2 Material and Methods 2.1 Participants 2.2 System Description 2.3 Experimental Setting 2.4 Data Analysis 3 Results 3.1 Results from the Use of Telepresence Robot and SENTAB Technology 3.2 Results of the Reflection Meeting with Formal Caregivers 4 Discussion and Conclusion References Effect of Number of Robots on Perceived Persuasion and Competence 1 Introduction 2 Relevant Literature 2.1 Multiple-source Effect and Reinforced Messaging 2.2 Perceived Persuasion and Competence 3 Methodology 4 Results and Discussion 4.1 Data Analysis 4.2 Discussion 5 Conclusion and Future Work References A Field Study on Polish Customers’ Attitude Towards a Service Robot in a Cafe 1 Introduction 2 Related Research 2.1 Attitude of Polish Society Towards Technology and Robots 2.2 Use of Robots in Public Spaces in Poland 2.3 Robot Design in Human-Robot Interaction 2.4 Choice of Robot and the Wizard-of-Oz Methodology 3 Session One 3.1 Method 3.2 Results and Discussion 4 Sessions Two to Four 4.1 Method 4.2 Results and Discussion 5 Sessions Five to Seven 5.1 Method 5.2 Results and Discussion 6 General Discussion 6.1 Attitudes of Participants Towards Service Robots in a Cafe 6.2 Factors in Human-Robot Interaction Affecting Customer Satisfaction 7 Conclusions and Future Research References Exploring Response Strategies of Robotized Products in Problematic Situations: Analysis of Apology and Risk Communication Strategies 1 Introduction 2 Study Background 2.1 Apology Strategy 2.2 Risk Communication Strategies: Accommodative Strategy versus Defensive Strategy 2.3 Attraction 3 Hypotheses 4 Method 4.1 Participants 4.2 Experimental Setup 4.3 Scenarios 4.4 Procedures 5 Results 5.1 Main Effect Analysis 5.2 Interaction Effect Analysis 6 Study 2 6.1 Hypotheses 6.2 Method 7 Results 7.1 Main Effect Analysis 7.2 Mediation Analysis 8 Discussions 8.1 The Effectiveness of Apology Strategy for Robotized Products in Problematic Situations 8.2 Expectations of Robotized Products and Humans in Problematic Situations References User Perception of the Robot’s Error in Heterogeneous Multi-robot System Performing Sequential Cooperative Task 1 Introduction 2 Literature Review 3 Method 3.1 Participants 3.2 Experimental Setup 3.3 Scenarios 3.4 Procedure 3.5 Measures 4 Results 5 Discussion and Conclusion 5.1 Summary and Interpretation 5.2 Implication 5.3 Limitation and Future Work References I Am Relieved to Have You: Exploring the Effective Robot Type to Mitigate Users Negative Emotions 1 Introduction 2 Related Works 2.1 Robot Types 2.2 Emotion Types 3 Study Design 3.1 Hypotheses 3.2 Participants 3.3 Stimuli 3.4 Measures 3.5 Procedure 4 Results 4.1 Social Presence 4.2 Embarrassment 4.3 Mitigating Embarrassment 4.4 Sadness 4.5 Mitigating Sadness 4.6 Service Evaluation 5 Discussion 5.1 Sadness and Embarrassment 5.2 Embarrassment and Service Evaluation 5.3 Sadness and Mitigating Sadness 6 Conclusion References A Tablet-Based Lexicon Application for Robot-Aided Educational Interaction of Children with Dyslexia 1 Introduction 2 Methodology 2.1 Participants and Experimental Setup 2.2 Game Design 2.3 Database 2.4 Assessment 3 Results and Discussion 3.1 Limitations and Future Works 4 Conclusion References Special Session Papers User Perception of Teachable Robots: A Comparative Study of Teaching Strategies, Task Complexity and User Characteristics 1 Introduction 2 Related Work 3 Methodology 3.1 Teaching Conditions 3.2 Task Domain 3.3 Research Questions 3.4 Participants 3.5 Measures 3.6 Procedure 4 Results 4.1 Impact of the Teaching Method on the User's Perception 4.2 Relationships Between User Characteristics and Perceptions of Robot and Teaching Methods 4.3 Impact of the Nature of the Task on the User's Perception 5 Discussion 6 Limitation 7 Conclusion References Evaluating Customers' Engagement Preferences for Multi-party Interaction with a Robot Bartender 1 Introduction 2 Experimental Approach 3 Study 1: Engagement Managing Serving Priorities 3.1 Results 4 Study 2: Engagement via Personalised Interaction 4.1 Results 5 Conclusions and Future Works References Personalizing Multi-modal Human-Robot Interaction Using Adaptive Robot Behavior 1 Introduction 2 Related Work 3 Mini Social Robot 4 Model Design 4.1 Procedure 4.2 Online Survey 4.3 Participants 4.4 Classification Model 4.5 Integration 5 Results 5.1 Classification Scores 5.2 Interaction Example 6 Conclusion, Limitations and Future Work 6.1 Limitations 6.2 Future Work References Using Theory of Mind in Explanations for Fostering Transparency in Human-Robot Interaction 1 Introduction 2 Related Work 3 Proposed Approach 3.1 The Scenario 4 User Study 4.1 Procedure and Measurements 5 Results 5.1 System's Transparency 5.2 HRIES Ratings 5.3 Evaluation of the Experimental Results 6 Conclusions References Author Index