Impacts of Robot Learning on User Attitude and Behavior.

With an aging population and a growing shortage of caregivers, the need for in-home robots is increasing. However, it is intractable for robots to have all functionalities pre-programmed prior to deployment. Instead, it is more realistic for robots to engage in supplemental, on-site learning about the user's needs and preferences. Such learning may occur in the presence of or involve the user. We investigate the impacts on end-users of in situ robot learning through a series of human-subjects experiments. We examine how different learning methods influence both in-person and remote participants' perceptions of the robot. While we find that the degree of user involvement in the robot's learning method impacts perceived anthropomorphism (p=.001), we find that it is the participants' perceived success of the robot that impacts the participants' trust in (p<.001) and perceived usability of the robot (p<.001) rather than the robot's learning method. Therefore, when presenting robot learning, the performance of the learning method appears more important than the degree of user involvement in the learning. Furthermore, we find that the physical presence of the robot impacts perceived safety (p<.001), trust (p<.001), and usability (p<.014). Thus, for tabletop manipulation tasks, researchers should consider the impact of physical presence on experiment participants.