We present situated live programming for human-robot collaboration, an approach that enables users with limited programming experience to program collaborative applications for human-robot interaction. Allowing end users, such as shop floor workers, to program collaborative robots themselves would make it easy to "retask" robots from one process to another, facilitating their adoption by small and medium enterprises. Our approach builds on the paradigm of trigger-action programming (TAP) by allowing end users to create rich interactions through simple trigger-action pairings. It enables end users to iteratively create, edit, and refine a reactive robot program while executing partial programs. This live programming approach enables the user to utilize the task space and objects by incrementally specifying situated trigger-action pairs, substantially lowering the barrier to entry for programming or reprogramming robots for collaboration. We instantiate situated live programming in an authoring system where users can create trigger-action programs by annotating an augmented video feed from the robot's perspective and assign robot actions to trigger conditions. We evaluated this system in a study where participants (n = 10) developed robot programs for solving collaborative light-manufacturing tasks. Results showed that users with little programming experience were able to program HRC tasks in an interactive fashion and our situated live programming approach further supported individualized strategies and workflows. We conclude by discussing opportunities and limitations of the proposed approach, our system implementation, and our study and discuss a roadmap for expanding this approach to a broader range of tasks and applications.

翻译：我们提出人类机器人合作的现场方案,这种方法使拥有有限程序经验的用户能够编程用于人类机器人互动的协作应用。允许终端用户,如店面地板工人,编程协作机器人本身,将容易从一个过程“重新任务”机器人从一个过程到另一个过程,便利中小企业采用这些机器人。我们的方法以触发行动方案编制(TAP)的范例为基础,允许终端用户通过简单的触发行动配对来创造丰富的互动。它使终端用户能够在实施部分程序的同时,迭接地创建、编辑和完善一个被动的机器人程序。这种现场方案方法使用户能够利用任务空间和对象,逐步指定定位的触发行动配对,大大降低编程或重新编程机器人到另一个过程的进入障碍,便利中小企业的采用。我们把现场程序设置放在一个作者系统,用户可以从我们提议的机器人角度发出更多的视频反馈,并指派机器人行动来触发各种条件。我们在一项研究中评估了这个系统,参与者(n=10)开发了任务空间和物体空间和物件,并逐步指定了定位的触发程序。我们用互动式程序化的用户们在完成了一种互动光电路路段上的任务。我们完成了一个任务,我们完成了一个任务,我们为能够完成任务,我们的任务,我们完成了一个交互式程序设计任务,我们完成了一个任务,我们的任务,我们完成了一个互动程序设计过程的用户们完成了一个任务,我们完成了一个任务,我们的任务。