What happens when your walls begin to move? This paper explores the design of human-robot interaction for architectural-scale, shape-changing environments. We present findings from two studies: (1) a series of speculative design workshops (N=20) that uncovered aspirational visions for these spaces, and (2) a task-based Wizard-of-Oz elicitation study (N=12) that grounded these visions in the challenges of practical interaction. Our workshop findings reveal a complex landscape of user desires, exposing critical tensions between proactive automation and the preservation of user autonomy, and between personalization and public ownership. Our elicitation study reveals a set of core interaction challenges related to multimodal collaboration; and, most critically: suggests the need for a modality-agnostic model of evolving user intent. We conclude with a set of grounded proposals for creating robotic environments that are collaborative and trusted partners in everyday life.

翻译：当墙壁开始移动时会发生什么？本文探讨了建筑尺度、形态可变环境中人机交互的设计。我们展示了两项研究的结果：(1) 一系列思辨性设计工作坊（N=20），揭示了对此类空间的愿景；(2) 一项基于任务的Wizard-of-Oz启发式研究（N=12），将这些愿景与实际交互挑战相结合。我们的工作坊发现揭示了用户需求的复杂图景，暴露了主动自动化与用户自主权保留之间、个性化与公共所有权之间的关键矛盾。我们的启发式研究揭示了一系列与多模态协作相关的核心交互挑战；并且，最关键的是：表明需要一种与模态无关的、用于捕捉用户意图演变的模型。最后，我们提出了一套切实可行的建议，旨在创建能够成为日常生活中协作且可信赖伙伴的机器人化环境。