arXiv subjects

Takahiro Miyashita

Publications and source records attributed to Takahiro Miyashita.

5 recordsLinked to original sources

arXiv2026

OpenRoIS: A Community-Driven Open-Source Middleware Implementing the Robotic Interaction Service (RoIS) Framework for Physical Robots and Virtual Agents

Service applications for human-robot interaction are commonly written against the hardware-specific interfaces of one platform, so a change of hardware forces a rewrite of the application. The Robotic Interaction Service (RoIS) Framework 2.0, standardized by the Object Management Group (OMG), addresses this fragmentation by defining a platform-independent model in which Service Applications interact with Human-Robot Interaction (HRI) Engines through standardized interfaces and hardware-independent symbolic messages. A specification alone, however, does not provide the maintained implementation, Software Development Kits (SDKs), and adapters needed for practical adoption. This paper presents OpenRoIS, a community-driven open-source middleware providing a concrete implementation of the RoIS Framework 2.0. It takes the position that an openly developed, paradigm-neutral implementation is what carries the standard from specification to practice. OpenRoIS contributes a recursive engine architecture in which a single engine class realizes the main and sub HRI Engine roles, an internal five-method component contract distinct from the five external RoIS interfaces, a mapping of those interfaces onto JSON-RPC 2.0 over WebSocket, a single-source-of-truth type pipeline that generates three consistent language stacks, TypeScript and C# client SDKs that include web and Unity support, and a Python adapter SDK that includes ROS 2 support. Through the common RoIS interfaces, a Service Application can address physical robots and virtual agents over the internet. All source code, interface types, and documentation are released under the Apache-2.0 license and openly developed at https://openrois.org/.

cs.RO↗

arXiv2025

Acceptance of cybernetic avatars for capability enhancement: a large-scale survey

Avatar embodiment experiences have the potential to enhance human capabilities by extending human senses, body, and mind. This study investigates social acceptance of robotic and virtual avatars as enablers of capability enhancement in six domains: identity exploration, well-being and behavioral transformation, expanded travel capabilities, expanded bodily and sensory abilities, cognitive augmentation, and immortality. We conducted a large-scale survey (n = 1001) in Dubai to explore acceptance of sixteen capability enhancement scenarios within these domains. The highest levels of agreement were observed for multilingual communication (77.5%) and learning capabilities (68.7%), followed by assisting individuals with reduced mobility (64.5%) and behavioral transformation (59.5%). Scenarios involving immortality through consciousness transfer received the least support (34.9%). These findings contribute to a deeper understanding of public attitudes toward avatar-based human enhancement and offer practical guidance for the responsible design, development, and integration of cybernetic avatars in the society, ensuring their societal acceptance and fostering a harmonious human-avatar coexistence.

cs.HC↗

arXiv2025

Public Evaluation on Potential Social Impacts of Fully Autonomous Cybernetic Avatars for Physical Support in Daily-Life Environments: Large-Scale Demonstration and Survey at Avatar Land

Cybernetic avatars (CAs) are key components of an avatar-symbiotic society, enabling individuals to overcome physical limitations through virtual agents and robotic assistants. While semi-autonomous CAs intermittently require human teleoperation and supervision, the deployment of fully autonomous CAs remains a challenge. This study evaluates public perception and potential social impacts of fully autonomous CAs for physical support in daily life. To this end, we conducted a large-scale demonstration and survey during Avatar Land, a 19-day public event in Osaka, Japan, where fully autonomous robotic CAs, alongside semi-autonomous CAs, performed daily object retrieval tasks. Specifically, we analyzed responses from 2,285 visitors who engaged with various CAs, including a subset of 333 participants who interacted with fully autonomous CAs and shared their perceptions and concerns through a survey questionnaire. The survey results indicate interest in CAs for physical support in daily life and at work. However, concerns were raised regarding task execution reliability. In contrast, cost and human-like interaction were not dominant concerns. Project page: https://lotfielhafi.github.io/FACA-Survey/.

cs.HC↗

arXiv2025

Public Acceptance of Cybernetic Avatars in the service sector: Evidence from a Large-Scale Survey in Dubai

Cybernetic avatars are hybrid interaction robots or digital representations that combine autonomous capabilities with teleoperated control. This study investigates the acceptance of cybernetic avatars in the highly multicultural society of Dubai, with particular emphasis on robotic avatars for customer service. Specifically, we explore how acceptance varies as a function of robot appearance (e.g., android, robotic-looking, cartoonish), deployment settings (e.g., shopping malls, hotels, hospitals), and functional tasks (e.g., providing information, patrolling). To this end, we conducted a large-scale survey with over 1,000 participants. Overall, cybernetic avatars received a high level of acceptance, with physical robot avatars receiving higher acceptance than digital avatars. In terms of appearance, robot avatars with a highly anthropomorphic robotic appearance were the most accepted, followed by cartoonish designs and androids. Animal-like appearances received the lowest level of acceptance. Among the tasks, providing information and guidance was rated as the most valued. Shopping malls, airports, public transport stations, and museums were the settings with the highest acceptance, whereas healthcare-related spaces received lower levels of support. An analysis by community cluster revealed among others that Emirati respondents showed significantly greater acceptance of android appearances compared to the overall sample, while participants from the 'Other Asia' cluster were significantly more accepting of cartoonish appearances. Our study underscores the importance of incorporating citizen feedback into the design and deployment of cybernetic avatars from the early stages to enhance acceptance of this technology in society.

cs.RO↗

arXiv2025

Stakeholder perspectives on designing socially acceptable social robots and robot avatars for Dubai and multicultural societies

Robot avatars for customer service are gaining traction in Japan. However, their acceptance in other societal contexts remains underexplored, complicating efforts to design robot avatars suitable for diverse cultural environments. To address this, we interviewed key stakeholders in Dubai's service sector to gain insights into their experiences deploying social robots for customer service, as well as their opinions on the most useful tasks and design features that could maximize customer acceptance of robot avatars in Dubai. Providing information and guiding individuals to specific locations were identified as the most valued functions. Regarding appearance, robotic-looking, highly anthropomorphic designs were the most preferred. Ultra-realistic androids and cartoonish-looking robots elicited mixed reactions, while hybrid androids, low-anthropomorphic robotic designs, and animal-looking robots were considered less suitable or discouraged. Additionally, a psycho-sociological analysis revealed that interactions with robot avatars are influenced by their symbolic meaning, context, and affordances. These findings offer pioneering insights into culturally adaptive robot avatar design, addressing a significant research gap and providing actionable guidelines for deploying socially acceptable robots and avatars in multicultural contexts worldwide.

cs.HC↗