Real-Time Service Robot Replanning via Simple Button Interaction for Improved Task Success and User Experience
Ryo Terashima, Yuga Yano, Koshun Arimura, Hakaru Tamukoh · N/A · 2026
Framework
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License
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Stars
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Summary
Service robots must respond to unexpected instructions in real-world environments. However, robots cannot detect all failures and exceptions during a task. To address these issues, we propose a real-time feedback function that enables robots to modify their behavior based on human feedback.
Abstract Summary
Key Points
- Service robots must respond to unexpected instructions in real-world environments
- However, robots cannot detect all failures and exceptions during a task
- To address these issues, we propose a real-time feedback function that enables robots to modify their behavior based on human feedback.
- In this system, users can intuitively send feedback to the robot by pressing a single button on a tablet when the robot fails to act correctly.
- Robots use this feedback to consider their failures and replan appropriate actions to complete the task.
Proposal
This study aims to enable the robot to recover from failures that it cannot detect, while minimizing the intervention burden imposed on the user. We propose a seamless real-time feedback function that enables humans to interact intuitively and easily with robots. Fig. 2 shows an overview of the proposed method.
The feedback function allows the robot to seamlessly modify its tasks by receiving feedback and modifying its behavior when the robot cannot detect failures itself.
Experiment
Restaurants increasingly require service robots to help waiters with tasks owing to labor shortages. Restaurant waiter tasks are challenging because robots require flexible responses to changes in orders, unexpected requests, and changes in real-world environments. Therefore, we focused on waiter tasks, including understanding orders, serving food, cleaning tables, and interacting with users.
In the experiment, we designed waiter tasks based on RoboCup@Home [ 17 ] , which is intended to operate a service robot indoors.
Sources and Demonstrations
Figures are reproduced from Terashima et al. See the full paper for experimental details and the project page, when the paper links one, for demonstrations and videos.
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