Block-based Programming for Two-Armed Robots: A Comparative Study
Programming industrial robots is difficult and expensive. Although recent work has made substantial progress in making it accessible to a wider range of users, it is often limited to simple programs and its usability remains untested in practice. In this article, we introduce Duplo, a block-based programming environment that allows end-users to program two-armed robots and solve tasks that require coordination. Duplo positions the program for each arm side-by-side, using the spatial relationship between blocks from each program to represent parallelism in a way that end-users can easily understand. This design was proposed by previous work but not implemented or evaluated in a realistic programming setting. We performed a randomized experiment with 52 participants that evaluated Duplo on a complex programming task that contained several sub-tasks. We compared Duplo with RobotStudio Online YuMi, a commercial solution, and found that Duplo allowed participants to solve the same task faster and with greater success. By analyzing the information collected during our user study, we further identified factors that explain this performance difference, as well as remaining barriers, such as debugging issues and difficulties in interacting with the robot. This work represents another step towards allowing a wider audience of non-professionals to program, which might enable the broader deployment of robotics.
Wed 17 AprDisplayed time zone: Lisbon change
14:00 - 15:30 | Evolution 1Research Track / Journal-first Papers / Demonstrations / Industry Challenge Track at Amália Rodrigues Chair(s): Jonathan Sillito Brigham Young University | ||
14:00 15mTalk | Large Language Models are Few-Shot Summarizers: Multi-Intent Comment Generation via In-Context Learning Research Track Mingyang Geng National University of Defense Technology, Shangwen Wang National University of Defense Technology, Dezun Dong NUDT, Haotian Wang National University of Defense Technolog, Ge Li Peking University, Zhi Jin Peking University, Xiaoguang Mao National University of Defense Technology, Liao Xiangke National University of Defense Technology DOI Pre-print | ||
14:15 15mTalk | Block-based Programming for Two-Armed Robots: A Comparative Study Research Track Felipe Fronchetti Virginia Commonwealth University, Nico Ritschel University of British Columbia, Logan Schorr Virginia Commonwealth University, Chandler Barfield Virginia Commonwealth University, Gabriella Chang Virginia Commonwealth University, Rodrigo Spinola Virginia Commonwealth University, Reid Holmes University of British Columbia, David C. Shepherd Louisiana State University DOI Pre-print Media Attached | ||
14:30 15mTalk | Exploiting Library Vulnerability via Migration Based Automating Test Generation Research Track Zirui Chen , Xing Hu Zhejiang University, Xin Xia Huawei Technologies, Yi Gao Zhejiang University, Tongtong Xu Huawei, David Lo Singapore Management University, Xiaohu Yang Zhejiang University | ||
14:45 15mTalk | ReposVul: A Repository-Level High-Quality Vulnerability Dataset Industry Challenge Track Xinchen Wang Harbin Institute of Technology, Ruida Hu Harbin Institute of Technology, Shenzhen, Cuiyun Gao Harbin Institute of Technology, Xin-Cheng Wen Harbin Institute of Technology, Yujia Chen Harbin Institute of Technology, Shenzhen, Qing Liao Harbin Institute of Technology Pre-print File Attached | ||
15:00 7mTalk | JOG: Java JIT Peephole Optimizations and Tests from Patterns Demonstrations Zhiqiang Zang The University of Texas at Austin, Aditya Thimmaiah The University of Texas at Austin, Milos Gligoric The University of Texas at Austin DOI Pre-print | ||
15:07 7mTalk | Predicting the Change Impact of Resolving Defects by Leveraging the Topics of Issue Reports in Open Source Software Systems Journal-first Papers Maram Assi Queen's University, Safwat Hassan University of Toronto, Canada, Stefanos Georgiou Queen's University, Ying Zou Queen's University, Kingston, Ontario | ||
15:14 7mTalk | Assessing the Exposure of Software Changes Journal-first Papers Mehran Meidani University of Waterloo, Maxime Lamothe Polytechnique Montreal, Shane McIntosh University of Waterloo Link to publication Pre-print | ||
15:21 7mTalk | Responding to change over time: A longitudinal case study on changes in coordination mechanisms in large‑scale agile Journal-first Papers Marthe Berntzen University of Oslo, Viktoria Stray University of Oslo, Nils Brede Moe , Rashina Hoda Monash University | ||