Human-robot interaction requires to be studied in the wild. In the summers of 2022 and 2023, we deployed two trash barrel service robots through the wizard-of-oz protocol in public spaces to study human-robot interactions in urban settings. We deployed the robots at two different public plazas in downtown Manhattan and Brooklyn for a collective of 20 hours of field time. To date, relatively few long-term human-robot interaction studies have been conducted in shared public spaces. To support researchers aiming to fill this gap, we would like to share some of our insights and learned lessons that would benefit both researchers and practitioners on how to deploy robots in public spaces. We share best practices and lessons learned with the HRI research community to encourage more in-the-wild research of robots in public spaces and call for the community to share their lessons learned to a GitHub repository.

翻译：人机交互研究需要在真实环境中开展。2022年与2023年夏季，我们通过"绿野仙踪"协议在公共空间部署了两台垃圾回收服务机器人，用于研究城市环境中的人机交互行为。实验分别选取了曼哈顿和布鲁克林市中心的两个公共广场，累计完成20小时的实地操作。迄今为止，共享公共空间中的长期人机交互研究仍相对匮乏。为助力试图填补这一空白的科研工作者，我们愿分享在公共空间部署机器人过程中收获的见解与经验教训，这将惠及相关领域的研究人员与实践者。我们将最佳实践与经验总结分享给人机交互研究界，旨在推动更多关于公共空间机器人的实地研究，并呼吁学界同仁将各自经验教训共享至GitHub仓库。