On Using Social Signals to Enable Flexible Error-Aware HRI

Prior error management techniques often do not possess the versatility to appropriately address robot errors across tasks and scenarios. Their fundamental framework involves explicit, manual error management and implicit domain-specific information driven error management, tailoring their response for specific interaction contexts. We present a framework for approaching error-aware systems by adding implicit social signals as another information channel to create more flexibility in application. To support this notion, we introduce a novel dataset (composed of three data collections) with a focus on understanding natural facial action unit (AU) responses to robot errors during physical-based human-robot interactions---varying across task, error, people, and scenario. Analysis of the dataset reveals that, through the lens of error detection, using AUs as input into error management affords flexibility to the system and has the potential to improve error detection response rate. In addition, we provide an example real-time interactive robot error management system using the error-aware framework.