Towards Fluent Interaction with Cyber-Physical Architecture

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.