Adam Stogsdill and Grace Clark and Aly Ranucci and Thao Phung and Tom Williams


Proceedings of the Companion of the 16th ACM/IEEE International Conference on Human-Robot Interaction (HRI LBRs)

Publication Year

To enable robots to select between different types of nonverbal behavior when accompanying spatial language, we must first understand the factors that guide human selection between such behaviors. In this work, we argue that to enable appropriate spatial gesture selection, HRI researchers must answer four questions: (1) What are the factors that determine the form of gesture used to accompany spatial language? (2) What parameters of these factors cause speakers to switch between these categories? (3) How do the parameterizations of these factors inform the performance of gestures within these categories? and (4) How does human generation of gestures differ from human expectations of how robots should generate such gestures? In this work, we consider the first three questions and make two key contributions: (1) a human-human interaction experiment investigating how human gestures transition between deictic and non-deictic under changes in contextual factors, and (2) a model of gesture category transition informed by the results of this experiment.