{"id":"https://openalex.org/W3195531229","doi":"https://doi.org/10.1109/ro-man50785.2021.9515518","title":"Investigating Transparency Methods in a Robot Word-Learning System and Their Effects on Human Teaching Behaviors","display_name":"Investigating Transparency Methods in a Robot Word-Learning System and Their Effects on Human Teaching Behaviors","publication_year":2021,"publication_date":"2021-08-08","ids":{"openalex":"https://openalex.org/W3195531229","doi":"https://doi.org/10.1109/ro-man50785.2021.9515518","mag":"3195531229"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man50785.2021.9515518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042263943","display_name":"Matthias Hirschmanner","orcid":"https://orcid.org/0000-0002-0534-385X"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Matthias Hirschmanner","raw_affiliation_strings":["TU Wien,Automation and Control Institute,Vienna,Austria,1040"],"affiliations":[{"raw_affiliation_string":"TU Wien,Automation and Control Institute,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063500134","display_name":"Stephanie Gross","orcid":"https://orcid.org/0000-0002-9947-9888"},"institutions":[{"id":"https://openalex.org/I161878677","display_name":"Austrian Research Institute for Artificial Intelligence","ror":"https://ror.org/04j47vk14","country_code":"AT","type":"facility","lineage":["https://openalex.org/I161878677","https://openalex.org/I4210107880"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Stephanie Gross","raw_affiliation_strings":["Austrian Research Institute for Artificial Intelligence (OFAI),Vienna,Austria,1010"],"affiliations":[{"raw_affiliation_string":"Austrian Research Institute for Artificial Intelligence (OFAI),Vienna,Austria,1010","institution_ids":["https://openalex.org/I161878677"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063675534","display_name":"Setareh Zafari","orcid":"https://orcid.org/0000-0003-4940-1764"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Setareh Zafari","raw_affiliation_strings":["TU Wien,Institute of Management Science,Vienna,Austria,1040"],"affiliations":[{"raw_affiliation_string":"TU Wien,Institute of Management Science,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042043337","display_name":"Brigitte Krenn","orcid":"https://orcid.org/0000-0003-1938-4027"},"institutions":[{"id":"https://openalex.org/I161878677","display_name":"Austrian Research Institute for Artificial Intelligence","ror":"https://ror.org/04j47vk14","country_code":"AT","type":"facility","lineage":["https://openalex.org/I161878677","https://openalex.org/I4210107880"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Brigitte Krenn","raw_affiliation_strings":["Austrian Research Institute for Artificial Intelligence (OFAI),Vienna,Austria,1010"],"affiliations":[{"raw_affiliation_string":"Austrian Research Institute for Artificial Intelligence (OFAI),Vienna,Austria,1010","institution_ids":["https://openalex.org/I161878677"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026459289","display_name":"Friedrich Neubarth","orcid":null},"institutions":[{"id":"https://openalex.org/I161878677","display_name":"Austrian Research Institute for Artificial Intelligence","ror":"https://ror.org/04j47vk14","country_code":"AT","type":"facility","lineage":["https://openalex.org/I161878677","https://openalex.org/I4210107880"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Friedrich Neubarth","raw_affiliation_strings":["Austrian Research Institute for Artificial Intelligence (OFAI),Vienna,Austria,1010"],"affiliations":[{"raw_affiliation_string":"Austrian Research Institute for Artificial Intelligence (OFAI),Vienna,Austria,1010","institution_ids":["https://openalex.org/I161878677"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Vincze","raw_affiliation_strings":["TU Wien,Automation and Control Institute,Vienna,Austria,1040"],"affiliations":[{"raw_affiliation_string":"TU Wien,Automation and Control Institute,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5042263943"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":1.1199,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.8243401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"175","last_page":"182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12090","display_name":"Language and cultural evolution","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/3316","display_name":"Cultural Studies"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6847648620605469},{"id":"https://openalex.org/keywords/deixis","display_name":"Deixis","score":0.6482569575309753},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5858184099197388},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5491563677787781},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.48329928517341614},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4679742157459259},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.45938992500305176},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.44754281640052795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4250350892543793},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.41392242908477783},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.377768874168396},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.32128822803497314},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1798861026763916},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16703921556472778},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.10215458273887634}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6847648620605469},{"id":"https://openalex.org/C13077596","wikidata":"https://www.wikidata.org/wiki/Q340015","display_name":"Deixis","level":2,"score":0.6482569575309753},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5858184099197388},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5491563677787781},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.48329928517341614},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4679742157459259},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.45938992500305176},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.44754281640052795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4250350892543793},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.41392242908477783},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.377768874168396},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.32128822803497314},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1798861026763916},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16703921556472778},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.10215458273887634},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man50785.2021.9515518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man50785.2021.9515518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321003","display_name":"Vienna Science and Technology Fund","ror":"https://ror.org/01f9mc681"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1984862412","https://openalex.org/W1993984071","https://openalex.org/W1994090379","https://openalex.org/W2011343364","https://openalex.org/W2049617391","https://openalex.org/W2088110681","https://openalex.org/W2091360994","https://openalex.org/W2107019937","https://openalex.org/W2121842392","https://openalex.org/W2134442711","https://openalex.org/W2171766198","https://openalex.org/W2198921287","https://openalex.org/W2253319075","https://openalex.org/W2344282382","https://openalex.org/W2404769241","https://openalex.org/W2470272378","https://openalex.org/W2581802848","https://openalex.org/W2724918885","https://openalex.org/W2738027582","https://openalex.org/W2765468417","https://openalex.org/W2777697581","https://openalex.org/W2807073641","https://openalex.org/W2901136733","https://openalex.org/W2901551690","https://openalex.org/W2944340216","https://openalex.org/W3011857155","https://openalex.org/W3025454863","https://openalex.org/W3041637331","https://openalex.org/W3088063282","https://openalex.org/W3100307207","https://openalex.org/W3110909889","https://openalex.org/W3134999030","https://openalex.org/W3183109154","https://openalex.org/W4244799118","https://openalex.org/W4256093082","https://openalex.org/W6680065111","https://openalex.org/W6751919243","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2082745131","https://openalex.org/W1989753795","https://openalex.org/W3133699834","https://openalex.org/W4312511060","https://openalex.org/W3181705171","https://openalex.org/W2909564046","https://openalex.org/W2160434794","https://openalex.org/W2049851324","https://openalex.org/W2344425795","https://openalex.org/W2902781206"],"abstract_inverted_index":{"Robots":[0],"need":[1],"to":[2,19,37,87,94,119,215,217,231],"understand":[3,232],"words":[4,22],"for":[5,33,145,229],"references":[6],"in":[7,243],"social":[8],"spaces":[9],"(e.g.,":[10],"objects,":[11],"locations,":[12],"actions).":[13],"Grounded":[14],"language":[15],"learning":[16,128,158,169,187,240,258],"systems":[17],"aim":[18],"learn":[20],"these":[21],"from":[23,252],"observing":[24],"a":[25,29,54,115,134,141,172],"human":[26,208,248],"tutor.":[27],"Teaching":[28],"robot":[30,61,201,235],"is":[31],"difficult":[32],"naive":[34],"users":[35,150,198,230],"due":[36],"the":[38,41,46,50,59,75,103,107,110,121,124,146,160,164,168,177,186,200,218,222,234,247,253,257],"discrepancy":[39],"between":[40],"users'":[42],"mental":[43],"model":[44],"and":[45,65,68,85,93,130,156,181],"actual":[47],"state":[48,105,166],"of":[49,106,123,154,167,197,221],"robot.":[51,223],"We":[52,113,205],"present":[53],"grounded":[55],"word-learning":[56],"system":[57],"with":[58],"Pepper":[60],"which":[62],"learns":[63],"object":[64,91],"action":[66],"labels":[67],"investigate":[69,120],"two":[70,147],"extensions":[71],"geared":[72],"towards":[73],"increasing":[74],"system’s":[76],"transparency.":[77],"The":[78,99,224],"first":[79],"extension":[80,101],"utilizes":[81],"deictic":[82,203],"gestures":[83],"(pointing":[84],"gaze)":[86],"communicate":[88],"knowledge":[89],"about":[90],"names":[92],"further":[95],"request":[96],"new":[97],"labels.":[98],"second":[100],"shows":[102],"current":[104,165],"lexicon":[108],"on":[109,127],"robot’s":[111],"tablet.":[112],"performed":[114],"user":[116],"study":[117],"(n=32)":[118],"effects":[122],"transparency":[125],"methods":[126],"performance":[129,143],"teaching":[131,179],"behavior.":[132],"In":[133,171],"quantitative":[135],"analysis,":[136,174],"we":[137,175,192],"did":[138],"not":[139],"see":[140],"significant":[142],"increase":[144],"extensions.":[148],"However,":[149],"reported":[151],"higher":[152],"perception":[153],"control":[155],"perceived":[157,219],"success":[159],"better":[161],"they":[162],"knew":[163],"system.":[170,259],"qualitative":[173],"investigated":[176],"participants'":[178],"behaviors":[180],"identified":[182],"factors":[183],"that":[184,207],"inhibited":[185],"process.":[188],"Among":[189],"other":[190],"things,":[191],"found":[193],"increased":[194],"interactive":[195],"behavior":[196],"when":[199,246],"displayed":[202],"gestures.":[204],"saw":[206],"tutors":[209],"simplified":[210],"their":[211],"utterances":[212],"over":[213],"time":[214],"adapt":[216],"capabilities":[220],"tablet":[225],"was":[226,241],"most":[227],"helpful":[228],"what":[233],"had":[236],"already":[237],"learned.":[238],"Still,":[239],"impaired":[242],"all":[244],"conditions,":[245],"input":[249],"substantially":[250],"deviated":[251],"form":[254],"required":[255],"by":[256]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}