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As robots become increasingly integrated into our daily lives, the need to make them transparent has never been more critical. Yet, despite its importance in human-robot interaction, a standardized measure of robot transparency has been missing until now. This paper addresses this gap by presenting the first comprehensive scale to measure perceived transparency in robotic systems, available in English, German, and Italian languages. Our approach conceptualizes transparency as a multidimensional construct, encompassing explainability, legibility, predictability, and meta-understanding. The proposed scale was a product of a rigorous three-stage process involving 1,223 participants. Firstly, we generated the items of our scale, secondly, we conducted an exploratory factor analysis, and thirdly, a confirmatory factor analysis served to validate the factor structure of the newly developed TOROS scale. The final scale encompasses 26 items and comprises three factors: Illegibility, Explainability, and Predictability. TOROS demonstrates high cross-linguistic reliability, inter-factor correlation, model fit, internal consistency, and convergent validity across the three cross-national samples. This empirically validated tool enables the assessment of robot transparency and contributes to the theoretical understanding of this complex construct. By offering a standardized measure, we facilitate consistent and comparable research in human-robot interaction in which TOROS can serve as a benchmark.

Trust in robots is widely believed to be imperative for the adoption of robots into people's daily lives. It is, therefore, understandable that the literature of the last few decades focuses on measuring how much people trust robots -- and more generally, any agent - to foster such trust in these technologies. Researchers have been exploring how people trust robot in different ways, such as measuring trust on human-robot interactions (HRI) based on textual descriptions or images without any physical contact, during and after interacting with the technology. Nevertheless, trust is a complex behaviour, and it is affected and depends on several factors, including those related to the interacting agents (e.g. humans, robots, pets), itself (e.g. capabilities, reliability), the context (e.g. task), and the environment (e.g. public spaces vs private spaces vs working spaces). In general, most roboticists agree that insufficient levels of trust lead to a risk of disengagement while over-trust in technology can cause over-reliance and inherit dangers, for example, in emergency situations. It is, therefore, very important that the research community has access to reliable methods to measure people's trust in robots and technology. In this position paper, we outline current methods and their strengths, identify (some) weakly covered aspects and discuss the potential for covering a more comprehensive amount of factors influencing trust in HRI., Comment: In SCRITA 2023 Workshop Proceedings (arXiv:2311.05401) held in conjunction with 32nd IEEE International Conference on Robot & Human Interactive Communication, 28/08 - 31/08 2023, Busan (Korea)

This workshop focused on identifying the challenges and dynamics between people and robots to foster short interactions and long-lasting relationships in different fields, from educational, service, collaborative, companion, care-home and medical robotics. For that, this workshop facilitated a discussion about people's trust towards robots "in the field", inviting workshop participants to contribute their past experiences and lessons learnt., Comment: SCRITA 2023 workshop proceedings including 9 articles

In this paper we present a new fast and accurate method for Radial Basis Function (RBF) approximation, including interpolation as a special case, which enables us to effectively find the optimal value of the RBF shape parameter. In particular, we propose a statistical technique, called Bayesian optimization, that consists in modelling the error function with a Gaussian process, by which, through an iterative process, the optimal shape parameter is selected. The process is step by step self-updated resulting in a relevant decrease in search time with respect to the classical leave one out cross validation technique. Numerical results deriving from some test examples and an application to real data show the performance of the proposed method., Comment: 17 pages, 4 figures, 10 tables

Partition of unity methods (PUMs) on graphs represent straightforward and remarkably adaptable auxiliary techniques for graph signal processing. By relying solely on the intrinsic graph structure, we propose the generation of a partition of unity through centrality measures and modularity. Subsequently, we integrate PUMs with a local graph basis function (GBF) approximation approach to achieve low-cost global interpolation schemes., Comment: 7 pages, 1 figure

In this paper, we employ Bayesian optimization to concurrently explore the optimal values for both the shape parameter and the radius in the partition of unity interpolation using radial basis functions. Bayesian optimization is a probabilistic, iterative approach that models the error function through a progressively self-updated Gaussian process. Meanwhile, the partition of unity approach harnesses a meshfree method, allowing us to significantly reduce computational expenses, particularly when considering a substantial number of scattered data points. This reduction in computational cost is achieved by decomposing the entire domain into several smaller subdomains, each of them with a variable radius. We provide an estimation of the complexity of our algorithm and carry out numerical experiments to illustrate the effectiveness of our approach, dealing with test and real-world datasets., Comment: 13 pages, 2 figures. arXiv admin note: text overlap with arXiv:2311.04210

In this paper, Bayesian optimisation is used to simultaneously search the optimal values of the shape parameter and the radius in radial basis function partition of unity interpolation problem. It is a probabilistic iterative approach that models the error function with a step-by-step self-updated Gaussian process, whereas partition of unity leverages a mesh-free method that allows us to reduce cost-intensive computations when the number of scattered data is very large, as the entire domain is decomposed into several smaller subdomains of variable radius. Numerical experiments on the scattered data interpolation problem show that the combination of these two tools sharply reduces the search time with respect to other techniques such as the leave one out cross validation., Comment: 8 pages

Graph signal processing benefits significantly from the direct and highly adaptable supplementary techniques offered by partition of unity methods (PUMs) on graphs. In our approach, we demonstrate the generation of a partition of unity solely based on the underlying graph structure, employing an algorithm that relies exclusively on centrality measures and modularity, without requiring the input of the number of subdomains. Subsequently, we integrate PUMs with a local graph basis function (GBF) approximation method to develop cost-effective global interpolation schemes. We also discuss numerical experiments conducted on both synthetic and real datasets to assess the performance of this presented technique., Comment: 13 pages, 4 figures. arXiv admin note: text overlap with arXiv:2311.04299

The goal of RoboCup is to make research in the area of robotics measurable over time, and grow a community that works together to solve increasingly difficult challenges over the years. The most ambitious of these challenges it to be able to play against the human world champions in soccer in 2050. To better understand what members of the RoboCup community believes to be the state of the art and the main challenges in the next decade and towards the 2050 game, we developed a survey and distributed it to members of different experience level and background within the community. We present data from 39 responses. Results highlighted that locomotion, awareness and decision-making, and robustness of robots are among those considered of high importance for the community, while human-robot interaction and natural language processing and generation are rated of low in importance and difficulty.

The Trust, Acceptance and Social Cues in Human-Robot Interaction - SCRITA is the 5th edition of a series of workshops held in conjunction with the IEEE RO-MAN conference. This workshop focuses on addressing the challenges and development of the dynamics between people and robots in order to foster short interactions and long-lasting relationships in different fields, from educational, service, collaborative, companion, care-home and medical robotics. In particular, we aimed in investigating how robots can manipulate (i.e. creating, improving, and recovering) people's ability of accepting and trusting them for a fruitful and successful coexistence between humans and people. While advanced progresses are reached in studying and evaluating the factors affecting acceptance and trust of people in robots in controlled or short-term (repeated interactions) setting, developing service and personal robots, that are accepted and trusted by people where the supervision of operators is not possible, still presents an open challenge for scientists in robotics, AI and HRI fields. In such unstructured static and dynamic human-centred environments scenarios, robots should be able to learn and adapt their behaviours to the situational context, but also to people's prior experiences and learned associations, their expectations, and their and the robot's ability to predict and understand each other's behaviours. Although the previous editions valued the participation of leading researchers in the field and several exceptional invited speakers who tackled down some fundamental points in this research domains, we wish to continue to further explore the role of trust in robotics to present groundbreaking research to effectively design and develop socially acceptable and trustable robots to be deployed "in the wild". Website: https://scrita.herts.ac.uk, Comment: SCRITA 2022 workshop proceedings including 8 articles

The aim of this workshop is to foster the exchange of insights on past and ongoing research towards effective and long-lasting collaborations between humans and robots. This workshop will provide a forum for representatives from academia and industry communities to analyse the different aspects of HRI that impact on its success. We particularly focus on AI techniques required to implement autonomous and proactive interactions, on the factors that enhance, undermine, or recover humans' acceptance and trust in robots, and on the potential ethical and legal concerns related to the deployment of such robots in human-centred environments. Website: https://sites.google.com/view/traits-hri-2022, Comment: TRAITS Workshop Proceedings including 7 articles

BRILLO (Bartending Robot for Interactive Long-Lasting Operations) project has the overall goal of creating an autonomous robotic bartender that can interact with customers while accomplishing its bartending tasks. In such a scenario, people's novelty effect connected to the use of an attractive technology is destined to wear off and, consequently, it negatively affects the success of the service robotics application. For this reason, providing personalised natural interaction while accessing its services is of paramount importance for increasing users' engagement and, consequently, their loyalty. In this paper, we present the developed three-layers ROS architecture integrating a perception layer managing the processing of different social signals, a decision-making layer for handling multi-party interactions, and an execution layer controlling the behaviour of a complex robot composed of arms and a face. Finally, user modelling through a beliefs layer allows for personalised interaction., Comment: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

This workshop aimed for a deeper exploration of trust and acceptance in human-robot interaction (HRI) from a multidisciplinary perspective including robots' capabilities of sensing and perceiving other agents, the environment, and human-robot dynamics. The workshop was held online in conjunction with IEEE RO-MAN 2021 (see https://ro-man2021.org/). Three invited speakers and six position papers analysed/discussed different aspects of human-robot interaction that can affect, enhance, undermine, or recover humans' trust in robots, such as the use of social cues or behaviour transparency. The attendees of different backgrounds engaged in a dynamic conversation about the relevant challenges of effectively supporting the design and development of socially acceptable and trustable robots. Website: https://scrita.herts.ac.uk/2021/, Comment: SCRITA 2021 workshop proceedings including 5 articles

This paper introduces benefits and detriments of a robot bartender that is capable of adapting the interaction with human users according to their preferences in drinks, music, and hobbies. We believe that a personalised experience during a human-robot interaction increases the human user's engagement with the robot and that such information will be used by the robot during the interaction. However, this implies that the users need to share several personal information with the robot. In this paper, we introduce the research topic and our approach to evaluate people's perceptions and consideration of their privacy with a robot. We present a within-subject study in which participants interacted twice with a robot that firstly had not any previous info about the users, and, then, having a knowledge of their preferences. We observed that less than 60\% of the participants were not concerned about sharing personal information with the robot., Comment: in TRAITS Workshop Proceedings (arXiv:2103.12679) held in conjunction with Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction, March 2021, Pages 709-711

The aim of this workshop is to give researchers from academia and industry the possibility to discuss the inter-and multi-disciplinary nature of the relationships between people and robots towards effective and long-lasting collaborations. This workshop will provide a forum for the HRI and robotics communities to explore successful human-robot interaction (HRI) to analyse the different aspects of HRI that impact its success. Particular focus are the AI algorithms required to implement autonomous interactions, and the factors that enhance, undermine, or recover humans' trust in robots. Finally, potential ethical and legal concerns, and how they can be addressed will be considered. Website: https://sites.google.com/view/traits-hri, Comment: TRAITS Workshop Proceedings including 9 articles

Partition of unity methods (PUMs) on graphs are simple and highly adaptive auxiliary tools for graph signal processing. Based on a greedy-type metric clustering and augmentation scheme, we show how a partition of unity can be generated in an efficient way on graphs. We investigate how PUMs can be combined with a local graph basis function (GBF) approximation method in order to obtain low-cost global interpolation or classification schemes. From a theoretical point of view, we study necessary prerequisites for the partition of unity such that global error estimates of the PUM follow from corresponding local ones. Finally, properties of the PUM as cost-efficiency and approximation accuracy are investigated numerically., Comment: 23 pages, 6 figures, 1 table

We participated in the RoboCup 2018 competition in Montreal with our newly developed BoldBot based on the Darwin-OP and mostly self-printed custom parts. This paper is about the lessons learnt from that competition and further developments for the RoboCup 2019 competition. Firstly, we briefly introduce the team along with an overview of past achievements. We then present a simple, standalone 2D simulator we use for simplifying the entry for new members with making basic RoboCup concepts quickly accessible. We describe our approach for semantic-segmentation for our vision used in the 2018 competition, which replaced the lookup-table (LUT) implementation we had before. We also discuss the extra structural support we plan to add to the printed parts of the BoldBot and our transition to ROS 2 as our new middleware. Lastly, we will present a collection of open-source contributions of our team., Comment: Technical report

Due to complexity and invisibility of human organs, diagnosticians need to analyze medical images to determine where the lesion region is, and which kind of disease is, in order to make precise diagnoses. For satisfying clinical purposes through analyzing medical images, registration plays an essential role. For instance, in Image-Guided Interventions (IGI) and computer-aided surgeries, patient anatomy is registered to preoperative images to guide surgeons complete procedures. Medical image registration is also very useful in surgical planning, monitoring disease progression and for atlas construction. Due to the significance, the theories, methods, and implementation method of image registration constitute fundamental knowledge in educational training for medical specialists. In this chapter, we focus on image registration of a specific human organ, i.e. the lung, which is prone to be lesioned. For pulmonary image registration, the improvement of the accuracy and how to obtain it in order to achieve clinical purposes represents an important problem which should seriously be addressed. In this chapter, we provide a survey which focuses on the role of image registration in educational training together with the state-of-the-art of pulmonary image registration. In the first part, we describe clinical applications of image registration introducing artificial organs in Simulation-based Education. In the second part, we summarize the common methods used in pulmonary image registration and analyze popular papers to obtain a survey of pulmonary image registration.

The Hermite-Birkhoff interpolation problem of a function given on arbitrarily distributed points on the sphere and other manifolds is considered. Each proposed interpolant is expressed as a linear combination of basis functions, the combination coefficients being incomplete Taylor expansions of the interpolated function at the interpolation points. The basis functions depend on the geodesic distance, are orthonormal with respect to the point-evaluation functionals, and have all derivatives equal zero up to a certain order at the interpolation points. A remarkable feature of such interpolants, which belong to the class of partition of unity methods, is that their construction does not require solving linear systems. Numerical tests are given to show the interpolation performance.

The Partition of Unity (PU) method, performed with local Radial Basis Function (RBF) approximants, has been proved to be an effective tool for solving large scattered data interpolation problems. However, in order to achieve a good accuracy, the question about how many points we have to consider on each local subdomain, i.e. how large can be the local data sets, needs to be answered. Moreover, it is well-known that also the shape parameter affects the accuracy of the local RBF approximants and, as a consequence, of the PU interpolant. Thus here, both the shape parameter used to fit the local problems and the size of the associated linear systems are supposed to vary among the subdomains. They are selected by minimizing an a priori error estimate. As evident from extensive numerical experiments and applications provided in the paper, the proposed method turns out to be extremely accurate also when data with non-homogeneous density are considered.

In this paper, we discuss the problem of constructing Radial Basis In this paper, we discuss the problem of constructing Radial Basis Function (RBF)-based Partition of Unity (PU) interpolants that are positive if data values are positive. More specifically, we compute positive local approximants by adding up several constraints to the interpolation conditions. This approach, considering a global approximation problem and Compactly Supported RBFs (CSRBFs), has been previously proposed. Here, the use of the PU technique enables us to intervene only locally and as a consequence to reach a better accuracy. This is also due to the fact that we select the optimal number of positive constraints by means of an a priori error estimate and we do not restrict to the use of CSRBFs. Numerical experiments and applications to population dynamics are provided to illustrate the effectiveness of the method in applied sciences.

The purpose of image registration is to determine a transformation such that the transformed version of the source image is similar to the target one. In this paper we focus on landmark-based image registration using radial basis functions (RBFs) transformations, in particular on the topology preservation of compactly supported radial basis functions (CSRBFs) transformations. In [1] the performances of Gneiting's and Wu's functions are compared with the ones of other well known schemes in image registration, as thin plate spline and Wendland's functions. Several numerical experiments and real-life cases with medical images show differences in accuracy and smoothness of the considered interpolation methods, which can be explained taking into account their topology preservation properties. Here we analyze analytically and experimentally the topology preservation performances of Gneiting's functions, comparing results with the ones obtained in [2], where Wendland's and Wu's functions are considered., Comment: This paper includes 8 pages, 19 figures