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A multi-user multi-robot multi-goal multi-device human-robot interaction manipulation benchmark
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DOI：10.3389/frobt.2025.1528754.png)
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Abstract
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One weakness of human-robot interaction (HRI) research is the lack of reproducible results; due to the lack of standardised benchmarks. In this work we introduce a multi-user multi-robot multi-goal multi-device manipulation benchmark (M4Bench); a flexible HRI platform in which multiple users can direct either a single—or multiple—simulated robots to perform a multi-goal pick-and-place task. Our software exposes a web-based visual interface; with support for mouse; keyboard; gamepad; eye tracker and electromyograph/electroencephalograph (EMG/EEG) user inputs. It can be further extended using native browser libraries or WebSocket interfaces; allowing researchers to add support for their own devices. We also provide tracking for several HRI metrics; such as task completion and command selection time; enabling quantitative comparisons between different user interfaces and devices. We demonstrate the utility of our benchmark with a user study (n = 50) conducted to compare five different input devices; and also compare single-vs. multi-user control. In the pick-and-place task; we found that users performed worse when using the eye tracker + EMG device pair; as compared to mouse + keyboard or gamepad + gamepad; over four quantitative metrics (corrected p < 0.001). Our software is available at https://github.com/arayabrain/m4bench.
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