Working with robots and objects: revisiting deictic reference for achieving spatial common ground
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Generating Referring Expressions: Making Referents Easy to Identify
Computational Linguistics
Pointing to space: modeling of deictic interaction referring to regions
Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction
Robot deictics: how gesture and context shape referential communication
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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Pointing behaviors are used for referring to objects and people in everyday interactions, but the behaviors used for referring to objects are not necessarily polite or socially appropriate for referring to humans. In this study, we confirm that although people would point precisely to an object to indicate where it is, they were hesitant to do so when pointing to another person. We propose a model for generating socially-appropriate deictic behaviors in a robot. The model is based on balancing two factors: understandability and social appropriateness. In an experiment with a robot in a shopping mall, we found that the robot's deictic behavior was perceived as more polite, more natural, and better overall when using our model, compared with a model considering understandability alone.