When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor

The version of record of this article, first published in International journal of social robotics, is available online at Publisher’s website: http://dx.doi.org/10.1007/s12369-025-01303-9

Detalles Bibliográficos
Autores: Domínguez-Vidal, José Enrique, Sanfeliu Cortés, Alberto|||0000-0003-3868-9678
Tipo de recurso: artículo
Fecha de publicación:2025
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:español
OAI Identifier:oai:upcommons.upc.edu:2117/444111
Acceso en línea:https://hdl.handle.net/2117/444111
https://dx.doi.org/10.1007/s12369-025-01303-9
Access Level:acceso abierto
Palabra clave:Robotics
Physical human-robot interaction
Intent detection
Human-in-the-loop
User study
Robòtica
Robòtica--Factors humans
Classificació INSPEC::Automation::Robots::Humanoid robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/444111
network_acronym_str ES
network_name_str España
repository_id_str
spelling When the inference meets the explicitness or why multimodality can make us forget about the perfect predictorDomínguez-Vidal, José EnriqueSanfeliu Cortés, Alberto|||0000-0003-3868-9678RoboticsPhysical human-robot interactionIntent detectionHuman-in-the-loopUser studyRobòticaRobòtica--Factors humansClassificació INSPEC::Automation::Robots::Humanoid robotsÀrees temàtiques de la UPC::Informàtica::RobòticaThe version of record of this article, first published in International journal of social robotics, is available online at Publisher’s website: http://dx.doi.org/10.1007/s12369-025-01303-9Although in the literature it is common to find predictors and inference systems that try to predict human intentions, the uncertainty of these models due to the randomness of human behaviour has led some authors to start advocating the use of communication systems that explicitly elicit human intention. In this work, it is analysed the use of four different communication systems with a human-robot collaborative object transportation task as experimental testbed: two intention predictors (one based on force prediction and another with an enhanced velocity prediction algorithm) and two explicit communication methods (a button interface and a voice-command recognition system). These systems were integrated into IVO, a custom mobile social robot equipped with force sensor to detect the force exchange between both agents and LiDAR to detect the environment. The collaborative task required transporting an object over a 5–7 meter distance with obstacles in the middle, demanding rapid decisions and precise physical coordination. 75 volunteers perform a total of 255 executions divided into three groups, testing inference systems in the first round, communication systems in the second, and the combined strategies in the third. The results show that, 1) once sufficient performance is achieved, the human no longer notices and positively assesses technical improvements; 2) the human prefers systems that are more natural to them even though they have higher failure rates; and 3) the preferred option is the right combination of both systems.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. Work supported under the European project CANOPIES (H2020- ICT-2020–2-101016906) and the JST Moonshot R&D Grant Number JPMJMS2011-85. The first author acknowledges Spanish FPU grant with ref. FPU19/06582.Peer ReviewedSpringer20252025-09-3020252025-10-20journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/444111https://dx.doi.org/10.1007/s12369-025-01303-9reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)EspañolspaEuropean Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 101016906 A Collaborative Paradigm for Human Workers and Multi-Robot Teams in Precision Agriculture Systemsopen accesshttp://purl.org/coar/access_right/c_abf2Attribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4441112026-05-27T15:37:01Z
dc.title.none.fl_str_mv When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
title When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
spellingShingle When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
Domínguez-Vidal, José Enrique
Robotics
Physical human-robot interaction
Intent detection
Human-in-the-loop
User study
Robòtica
Robòtica--Factors humans
Classificació INSPEC::Automation::Robots::Humanoid robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
title_full When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
title_fullStr When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
title_full_unstemmed When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
title_sort When the inference meets the explicitness or why multimodality can make us forget about the perfect predictor
dc.creator.none.fl_str_mv Domínguez-Vidal, José Enrique
Sanfeliu Cortés, Alberto|||0000-0003-3868-9678
author Domínguez-Vidal, José Enrique
author_facet Domínguez-Vidal, José Enrique
Sanfeliu Cortés, Alberto|||0000-0003-3868-9678
author_role author
author2 Sanfeliu Cortés, Alberto|||0000-0003-3868-9678
author2_role author
dc.subject.none.fl_str_mv Robotics
Physical human-robot interaction
Intent detection
Human-in-the-loop
User study
Robòtica
Robòtica--Factors humans
Classificació INSPEC::Automation::Robots::Humanoid robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robotics
Physical human-robot interaction
Intent detection
Human-in-the-loop
User study
Robòtica
Robòtica--Factors humans
Classificació INSPEC::Automation::Robots::Humanoid robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description The version of record of this article, first published in International journal of social robotics, is available online at Publisher’s website: http://dx.doi.org/10.1007/s12369-025-01303-9
publishDate 2025
dc.date.none.fl_str_mv 2025
2025-09-30
2025
2025-10-20
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/444111
https://dx.doi.org/10.1007/s12369-025-01303-9
url https://hdl.handle.net/2117/444111
https://dx.doi.org/10.1007/s12369-025-01303-9
dc.language.none.fl_str_mv Español
spa
language_invalid_str_mv Español
language spa
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 101016906 A Collaborative Paradigm for Human Workers and Multi-Robot Teams in Precision Agriculture Systems
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812455

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