Robots often need to convey information to human users. For example, robots can leverage visual, auditory, and haptic interfaces to display their intent or express their internal state. In some scenarios there are socially agreed upon conventions for what these signals mean: e.g., a red light indicates an autonomous car is slowing down. But as robots develop new capabilities and seek to convey more complex data, the meaning behind their signals is not always mutually understood: one user might think a flashing light indicates the autonomous car is an aggressive driver, while another user might think the same signal means the autonomous car is defensive. In this paper we enable robots to adapt their interfaces to the current user so that the human's personalized interpretation is aligned with the robot's meaning. We start with an information theoretic end-to-end approach, which automatically tunes the interface policy to optimize the correlation between human and robot. But to ensure that this learning policy is intuitive -- and to accelerate how quickly the interface adapts to the human -- we recognize that humans have priors over how interfaces should function. For instance, humans expect interface signals to be proportional and convex. Our approach biases the robot's interface towards these priors, resulting in signals that are adapted to the current user while still following social expectations. Our simulations and user study results across $15$ participants suggest that these priors improve robot-to-human communication. See videos here: https://youtu.be/Re3OLg57hp8

翻译：机器人通常需要向人类用户传递信息。例如，机器人可利用视觉、听觉和触觉接口展示其意图或表达内部状态。在某些场景中，这些信号的含义存在社会公认的约定：例如，红色灯光表示自动驾驶汽车正在减速。但随着机器人发展新能力并试图传递更复杂的数据，其信号的含义并非总能被双方共同理解：一个用户可能认为闪烁灯光表示自动驾驶汽车是激进驾驶者，而另一个用户可能认为同一信号表示该汽车是防御性驾驶者。本文使机器人能够根据当前用户调整其接口，以使人类个性化解释与机器人的含义保持一致。我们从信息论端到端方法入手，该方法自动调整接口策略以优化人类与机器人之间的关联性。但为确保该学习策略的直观性——并加速接口对人类的适应过程——我们认识到人类对接口功能存在先验知识。例如，人类期望接口信号具有比例性和凸性。我们的方法将机器人接口偏向这些先验，从而生成既适应当前用户又遵循社会期望的信号。模拟实验及包含15名参与者的用户研究结果表明，这些先验改进了机器人与人之间的通信。视频参见：https://youtu.be/Re3OLg57hp8