As service robots become more capable of autonomous behaviors, it becomes increasingly important to consider how people communicate with a robot what task it should perform and how to do the task. Accordingly, there has been a rise in attention to end-user development (EUD) interfaces, which enable non-roboticist end users to specify tasks for autonomous robots to perform. However, state-of-the-art EUD interfaces are often constrained through simplified domains or restrictive end-user interaction. Motivated by prior qualitative design work that explores how to integrate a care robot in an assisted living community, we discuss the challenges of EUD in this complex domain. One set of challenges stems from different user-facing representations, e.g., certain tasks may lend themselves better to rule-based trigger-action representations, whereas other tasks may be easier to specify via sequences of actions. The other stems from considering the needs of multiple stakeholders, e.g., caregivers and residents of the facility may all create tasks for the robot, but the robot may not be able to share information about all tasks with all residents due to privacy concerns. We present scenarios that illustrate these challenges and also discuss possible solutions.

翻译：随着服务机器人自主行为能力持续提升，如何与机器人沟通需执行的任务及操作方式日益成为重要议题。由此，面向终端用户开发（EUD）的界面研究逐渐兴起，此类界面使非机器人学背景的终端用户能够为自主机器人设定任务。然而，现有EUD界面常受限于简化领域或限制性终端用户交互方式。基于此前探索如何在辅助生活社区集成照护机器人的定性设计研究，我们探讨了该复杂领域中EUD面临的挑战。一类挑战源于面向不同用户的表征差异——例如，某些任务更适合基于规则的触发-动作表征，而其他任务通过动作序列指定则更为便捷。另一类挑战来自多利益相关方需求考量，例如照护者与设施居民均可能为机器人创建任务，但受隐私限制，机器人可能无法向所有居民共享全部任务信息。我们通过具体场景阐释这些挑战，并探讨潜在解决方案。