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A User Interface for Sense-making of the Reasoning Process while Interacting with Robots

Chao Wang, Jörg Deigmöller, Pengcheng An, Julian Eggert, "A User Interface for Sense-making of the Reasoning Process while Interacting with Robots", CHI 2023, 2023.

Abstract

As knowledge graph has the potential to bridges the gap between commonsense knowledge and reasoning over actionable capabilities of mobile robotic platforms, incorporating knowledge graph into robotic system attracted increasing attention in recent years. Previously, graph visualization is has been used wildly for developer to make sense of knowledge graph. However, due to lacking the link between abstract knowledge with real world environment, transitional graph visualization tools are incompatible for expert-user to understand, test, supervise and modify the graph-based reasoning system with the embodiment of the robots. Therefore, we developed interface which enables robotic experts to send command to the robot in natural language, then interface visualizes the procedures of the robot mapping the command to the functions for querying in the commonsense knowledge database, links the result to the real world instances in a 3D map and demonstrate the execution of the robot from the first-person perspective of the robot. After long-term usage of the system by robotic experts in their daily development, some feedback were collected, which provides the insight for designing such systems.



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