Trust plays a central role in human--robot collaboration, yet its formation is rarely examined under the constraints of fully autonomous interaction. This pilot study investigated how interaction policy influences trust during in-person collaboration with a social robot operating without Wizard-of-Oz control or scripted repair. Participants completed a multi-stage collaborative task with a mobile robot that autonomously managed spoken-language dialogue, affect inference, and task progression. Two interaction policies were compared: a responsive policy, in which the robot proactively adapted its dialogue and assistance based on inferred interaction state, and a neutral, reactive policy, in which the robot provided only direct, task-relevant responses when prompted. Responsive interaction was associated with significantly higher post-interaction trust under viable communication conditions, despite no reliable differences in overall task accuracy. Sensitivity analyses indicated that affective and experiential components of trust were more sensitive to communication breakdown than evaluative judgments of reliability, and that as language-mediated interaction degraded, the trust advantage associated with responsiveness attenuated and ratings became less clearly interpretable as calibrated evaluations of collaborative competence. These findings suggest that trust in autonomous human--robot interaction emerges from process-level interaction dynamics and operates within constraints imposed by communication viability, highlighting the importance of evaluating trust under real autonomy conditions when designing interactive robotic systems.

翻译：信任在人机协作中扮演着核心角色，然而其形成过程在完全自主交互的约束下却鲜有研究。本试点研究探讨了在无“绿野仙踪”控制或预设修复脚本的情况下，与社交机器人进行面对面协作时，交互策略如何影响信任。参与者与一台移动机器人完成了一项多阶段协作任务，该机器人自主管理语音对话、情感推断和任务推进。研究比较了两种交互策略：响应式策略（机器人根据推断的交互状态主动调整其对话与协助）与中性反应式策略（机器人仅在受提示时提供直接且与任务相关的回应）。结果表明，在可行的通信条件下，响应式交互与显著更高的交互后信任度相关，尽管整体任务准确性并无可靠差异。敏感性分析表明，信任的情感与体验成分比可靠性的评估性判断对通信中断更为敏感；并且随着语言介导的交互质量下降，响应性带来的信任优势会减弱，信任评分也较难清晰解读为对协作能力的校准评估。这些发现表明，自主人机交互中的信任产生于过程层面的交互动态，并受通信可行性所施加的约束，这凸显了在设计交互式机器人系统时，在真实自主条件下评估信任的重要性。