「大丈夫です」が裏目に出たとき：基盤モデルロボットのためのHRI教訓
When "No Worries" Went Wrong: HRI Lessons for Foundation-Model Robots
3年間のROS 2 HRIコンソーシアムの経験から、基盤モデル搭載ロボットが状況変化を行動に反映できない問題を分析し、注意・知識・約束・身体的タイミング・行動権限に関する5つの設計教訓と軽量レビュー手法TRACEを提案した論文。
分類: cs.RO
原文アブストラクト
When a person declined our robot's invitation to play, Alice turned her shoulder away and said "No worries, it's all good." Only after a brief pause did she drive off. The words and gestures were plausible but their order changed the message. In another episode, Alice informed a host that his visitor had arrived---while the visitor stood right beside him. Both came from a three-year ROS 2 HRI consortium that integrated large language and vision models as they emerged. Today's foundation models give robots broader capabilities to perceive their surroundings, reason about situations and generate behavior. Yet capability alone does not ensure that a changed situation shapes the action that reaches a person. Evidence may never be acquired, or a purpose or constraint may fail to survive planning and execution. A system may even report Success when an action no longer serves its intended purpose. Drawing on the consortium's engineering experience, we develop five design lessons about attention, knowledge, commitments, embodied timing and action authority. We then introduce TRACE, a lightweight review that changes one interaction premise, follows it to a decision or enforcement boundary, and produces an actionable architecture finding. A bounded analysis of a published LLM-generated behavior-tree system illustrates how an available clarification mechanism can go unused. The engineering lesson is to preserve accountability boundaries, not the computational pipelines that once exposed them.