Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a comprehensive end-to-end framework aimed at fostering trustworthy bidirectional human-robot interaction in collaborative environments for the social navigation of mobile robots. In this framework, the robot communicates verbally while the human guides with gestures. Our method enables a mobile robot to predict the trajectory of people and adjust its route in a socially-aware manner. In case of conflict between human and robot decisions, detected through visual examination, the route is dynamically modified based on human preference while verbal communication is maintained. We present our pipeline, framework design, and preliminary experiments that form the foundation of our proposition.

翻译：信任是人机交互中的关键概念。协作机器人必须对其决策过程保持透明，尤其是在以人为中心的环境中运行时。本文提出了一种全面的端到端框架，旨在促进社交机器人导航协作环境中的可信双向人机交互。在该框架中，机器人通过语言进行交流，而人类则以手势引导。我们的方法使移动机器人能够预测人的轨迹，并以社会感知的方式调整其路径。当通过视觉检测发现人机决策冲突时，机器人会根据人类偏好动态调整路线，同时保持语言交流。我们介绍了构成该方法基础的流水线、框架设计及初步实验。