Explicit communication is often valued for its directness during interaction. Implicit communication, on the other hand, is indirect in that its communicative content must be inferred. Implicit communication is considered more desirable in teaming situations that requires reduced interruptions for improved fluency. In this paper, we investigate another unique advantage of implicit communication: its ability to manipulate the perception of object or behavior of interest. When communication results in the perception of an object or behavior to deviate from other information (about the object or behavior) available via observation, it introduces a discrepancy between perception and observation. We show that such a discrepancy in visual perception can benefit human-robot interaction in a controlled manner and introduce an approach referred to as active shadowing (ASD). Through user studies, we demonstrate the effectiveness of active shadowing in creating a misaligned perception of the robot's behavior and its execution in the real-world, resulting in more efficient task completion without sacrificing its understandability. We also analyze conditions under which such visual manipulation is effective.

翻译：显式通信因其在交互过程中的直接性而常受重视。另一方面，隐式通信则是间接的，其传达的内容必须经过推断。在需要减少干扰以提高流畅性的团队协作情境中，隐式通信被认为更为可取。本文探讨了隐式通信的另一独特优势：其操控对目标物体或行为感知的能力。当通信导致对某一物体或行为的感知与通过观察可获得的其他信息（关于该物体或行为）发生偏离时，便在感知与观察之间引入了差异。我们证明，这种视觉感知上的差异能以受控的方式有益于人机交互，并引入一种称为主动遮蔽（ASD）的方法。通过用户研究，我们展示了主动遮蔽在创造对机器人行为及其在现实世界中执行的错位感知方面的有效性，从而在不牺牲其可理解性的前提下实现了更高效的任务完成。我们还分析了此类视觉操控生效的条件。