介護支援における接触を伴う人-ロボット相互作用のための物理整合ベンチマーク
A Physics-Consistent Benchmark for Contact-Rich Human-Robot Interaction in Assistive Care
接触を伴う介護タスク（ロボット支援入浴）において、物理的に応答する人体モデルと物理整合スコアを用いた評価ベンチマークを提案し、タスク成功率だけでは不十分であることを示した。
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著者: Chengxiao He, Shanghai Yuan, Liuqun Fan, Shenzhen Zhu
分類: cs.RO
原文アブストラクト
Conventional task-level evaluation asks whether a robot policy completes a specified action, but can miss failures that emerge only during physical human contact. This limitation is critical in contact-rich assistive tasks, where meaningful evaluation requires a physically responsive human, interaction-quality assessment beyond task success, and a leak-free observer-scorer protocol. We introduce a physics-consistent benchmark for contact-rich human-robot interaction, instantiated in robot-assisted bathing. The benchmark combines a deformable, passively responding human, physics-aware scores alongside task-level success, and a frozen vision-only / scorer-only evaluation protocol. To establish physical validity, region-wise simulated responses are calibrated against force-indentation measurements from Franka impedance pushes on a medical-care manikin. Under a frozen T1-T7 protocol with 140 runs per method, an LLM-augmented state machine (State Machine) achieves 72.9% task success but drops to 56.4% after correct-region and force-safety screening; VoxPoser produces lighter and more stable contact but completes only 27.9% of trials; and zero-shot pi0.5 achieves 0.7% task success with no correct-region or safety-gated successes. These results show that task completion alone does not imply physically valid contact and motivate physics-aware screening before deployment of contact-rich assistive robot policies.