论文标题
一种评估可读性的新方法：使用独立于框架的机器人运动轨迹比较可读性框架
A new approach to evaluating legibility: Comparing legibility frameworks using framework-independent robot motion trajectories
论文作者
论文摘要
与人共享环境的机器人可以使用各种不同的渠道传达其意图。运动是这些渠道之一，尤其是在操纵任务中，通过运动的意图通信称为可读性。它改变了机器人的轨迹，以表达意图。在这里，我们提出了一种新颖的评估方法，该方法在基准测试方法产生这种清晰的行为时提高了收集的实验数据的数据效率。该方法的主要新颖性是它使用独立于被测试的框架生成的轨迹。这使评估更容易，可以在方法之间进行n向比较，并可以更轻松地进行跨论文的比较。我们通过在2种情况下比较10个可读性框架来证明新评估方法的效率。因此，本文为读者提供了一种新的研究和/或基准测试可读性的新方法，（2）对现有框架的概述，（3）评估10个可读性框架（来自6篇论文），以及（4）在用户评估运动能力时的观看角度和轨迹进步问题的证据。
Robots that share an environment with humans may communicate their intent using a variety of different channels. Movement is one of these channels and, particularly in manipulation tasks, intent communication via movement is called legibility. It alters a robot's trajectory to make it intent expressive. Here we propose a novel evaluation method that improves the data efficiency of collected experimental data when benchmarking approaches generating such legible behavior. The primary novelty of the proposed method is that it uses trajectories that were generated independently of the framework being tested. This makes evaluation easier, enables N-way comparisons between approaches, and allows easier comparison across papers. We demonstrate the efficiency of the new evaluation method by comparing 10 legibility frameworks in 2 scenarios. The paper, thus, provides readers with (1) a novel approach to investigate and/or benchmark legibility, (2) an overview of existing frameworks, (3) an evaluation of 10 legibility frameworks (from 6 papers), and (4) evidence that viewing angle and trajectory progression matter when users evaluate the legibility of a motion.
