Exploring Control Authority Preferences in Robotic Arm Assistance for Power Wheelchair Users.

This paper uses mixed methods to explore the preliminary design of control authority preferences for an Assistive Robotic Manipulator (ARM). To familiarize users with an intelligent robotic arm, we perform two kitchen task iterations: one with user-initiated software autonomy (predefined autonomous actions) and one with manual control. Then, we introduce a third scenario, enabling users to choose between manual control and system delegation throughout the task. Results showed that, while manually switching modes and controlling the arm via joystick had a higher mental workload, participants still preferred full joystick control. Thematic analysis indicates manual control offered greater freedom and sense of accomplishment. Participants reacted positively to the idea of an interactive assistive system. Users did not want to ask the system to only assist, by taking over for certain actions, but also asked for situational feedback (e.g., 'How close am I (the gripper)?', 'Is the lid centered over the jug?'). This speaks to a future assistive system that ensures the user feels like they drive the system for the entirety of the task and provides action collaboration in addition to more granular situational awareness feedback.

COHUMAIN: Building the Socio-Cognitive Architecture of Collective Human-Machine Intelligence.

In recent years, we have experienced rapid development of advanced technology, machine learning, and artificial intelligence (AI), intended to interact with and augment the abilities of humans in practically every area of life. With the rapid growth of new capabilities, such as those enabled by generative AI (e.g., ChatGPT), AI is increasingly at the center of human communication and collaboration, resulting in a growing recognition of the need to understand how humans and AI can integrate their inputs in collaborative teams. However, there are many unanswered questions regarding how human-AI collective intelligence will emerge and what the barriers might be. Truly integrated collaboration between humans and intelligent agents may result in a different way of working that looks nothing like what we know now, and it is important to keep the essential goal of human societal well-being and prosperity a priority. In this special issue, we begin to scope out the underpinnings of a socio-cognitive architecture for Collective HUman-MAchine INtelligence (COHUMAIN), which is the study of the capability of an integrated human and machine (i.e., intelligent technology) system to achieve goals in a wide range of environments. This topic consists of nine papers including a description of the conceptual foundation for a socio-cognitive architecture for COHUMAIN, empirical tests of some aspects of this architecture, research on proposed representations of intelligent agents that can jointly interact with humans, empirical tests of human-human and human-machine interactions, and philosophical and ethical issues to consider as we develop these systems.

The Role of Adaptation in Collective Human-AI Teaming.

This paper explores a framework for defining artificial intelligence (AI) that adapts to individuals within a group, and discusses the technical challenges for collaborative AI systems that must work with different human partners. Collaborative AI is not one-size-fits-all, and thus AI systems must tune their output based on each human partner's needs and abilities. For example, when communicating with a partner, an AI should consider how prepared their partner is to receive and correctly interpret the information they are receiving. Forgoing such individual considerations may adversely impact the partner's mental state and proficiency. On the other hand, successfully adapting to each person's (or team member's) behavior and abilities can yield performance benefits for the human-AI team. Under this framework, an AI teammate adapts to human partners by first learning components of the human's decision-making process and then updating its own behaviors to positively influence the ongoing collaboration. This paper explains the role of this AI adaptation formalism in dyadic human-AI interactions and examines its application through a case study in a simulated navigation domain.

Machine Teaching for Human Inverse Reinforcement Learning.

As robots continue to acquire useful skills, their ability to teach their expertise will provide humans the two-fold benefit of learning from robots and collaborating fluently with them. For example, robot tutors could teach handwriting to individual students and delivery robots could convey their navigation conventions to better coordinate with nearby human workers. Because humans naturally communicate their behaviors through selective demonstrations, and comprehend others' through reasoning that resembles inverse reinforcement learning (IRL), we propose a method of teaching humans based on demonstrations that are informative for IRL. But unlike prior work that optimizes solely for IRL, this paper incorporates various human teaching strategies (e.g. scaffolding, simplicity, pattern discovery, and testing) to better accommodate human learners. We assess our method with user studies and find that our measure of test difficulty corresponds well with human performance and confidence, and also find that favoring simplicity and pattern discovery increases human performance on difficult tests. However, we did not find a strong effect for our method of scaffolding, revealing shortcomings that indicate clear directions for future work.

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction.

As assistive robotics has expanded to many task domains, comparing assistive strategies among the varieties of research becomes increasingly difficult. To begin to unify the disparate domains into a more general theory of assistance, we present a definition of assistance, a survey of existing work, and three key design axes that occur in many domains and benefit from the examination of assistance as a whole. We first define an assistance perspective that focuses on understanding a robot that is in control of its actions but subordinate to a user's goals. Next, we use this perspective to explore design axes that arise from the problem of assistance more generally and explore how these axes have comparable trade-offs across many domains. We investigate how the assistive robot handles other people in the interaction, how the robot design can operate in a variety of action spaces to enact similar goals, and how assistive robots can vary the timing of their actions relative to the user's behavior. While these axes are by no means comprehensive, we propose them as useful tools for unifying assistance research across domains and as examples of how taking a broader perspective on assistance enables more cross-domain theorizing about assistance.

Robots for use in autism research.

Autism spectrum disorders are a group of lifelong disabilities that affect people's ability to communicate and to understand social cues. Research into applying robots as therapy tools has shown that robots seem to improve engagement and elicit novel social behaviors from people (particularly children and teenagers) with autism. Robot therapy for autism has been explored as one of the first application domains in the field of socially assistive robotics (SAR), which aims to develop robots that assist people with special needs through social interactions. In this review, we discuss the past decade's work in SAR systems designed for autism therapy by analyzing robot design decisions, human-robot interactions, and system evaluations. We conclude by discussing challenges and future trends for this young but rapidly developing research area.