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%%% LaTeX class file to produce format for Bucknell University
%%% Honors Thesis. Modification of standard LaTeX book class.
%%% This is very preliminary.
%%% Martin Ligare, Bucknell Physics Department
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by\\
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A Proposal Submitted to the Honors Council\\
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For Honors in the Department of \departmentname \\
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Approved by: \hspace{0.2in}\underline{\hspace{2.5in}}\\
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% Thesis Proposal
%\documentclass{buthesis_p} %Default is author-year citation style
\documentclass[numbib]{buthesis_p} %Gives numerical citation style
%\documentclass[twoadv, numbib]{buthesis_p} %Allows entry of second advisor
\usepackage{graphics} %Select graphics package
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left=1in,
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\begin{document}
\butitle{A Web-Based Wizard-of-Oz Platform for Collaborative and Reproducible Human-Robot Interaction Research}
\author{Sean O'Connor}
\degree{Bachelor of Science}
\department{Computer Science}
\adviser{L. Felipe Perrone}
%\adviserb{Jane Doe} %Second adviser if necessary
\secondreader{Brian King}
\maketitle
\doublespacing
\section{Introduction}
To build the social robots of tomorrow, researchers must find ways to convincingly simulate them today. The process of designing and optimizing interactions between human and robot is essential to the Human-Robot Interaction (HRI) field, a discipline dedicated to ensuring these technologies are safe, effective, and accepted by the public. Yet, conducting rigorous research in social robotics remains hindered by complex technical requirements and inconsistent methodologies.
In a typical social robotics interaction, a robot operates autonomously based on pre-programmed behaviors. However, human interaction can be unpredictable. When a robot fails to respond appropriately to a social cue, the interaction can degrade, causing the human partner to lose trust or disengage.
To overcome the limitations of pre-programmed autonomy, researchers often use the Wizard-of-Oz (WoZ) technique to test prototypes of robot behaviors before the underlying technology is fully developed. In this method, a human operator (the ``wizard'') observes the interaction from a separate room via cameras and microphones, controlling the robot's actions in real-time. To the person interacting with the robot, it appears fully autonomous, creating a convincing simulation that is helpful for rapid prototyping and testing of interaction designs.
Despite its conceptual simplicity, conducting WoZ research presents two challenges. The first is a technical barrier that prevents many non-programmers, such as experts in psychology or sociology, from conducting their own studies. This accessibility problem is compounded by a second challenge: a fragmented hardware landscape. Because different labs use different robot platforms, researchers often must build their own custom control tools for each study. These bespoke systems are rarely shared, making it difficult for scientists to replicate and build upon each other's findings, which hinders the development of a reliable and verifiable body of knowledge.
To address these challenges, I am developing HRIStudio, a web-based platform for designing, executing, and analyzing WoZ experiments in social robotics. I argue that by lowering technical barriers and providing a common experimental platform, a web-based framework can significantly improve both the disciplinary accessibility and scientific reproducibility of research in social robotics.
\section{Context}
The challenges of disciplinary accessibility and scientific reproducibility in WoZ research have been explored in HRI literature. In a foundational systematic review of 54 HRI studies, Riek \cite{Riek2012} discovered a widespread lack of methodological consistency, noting that very few researchers reported standardized wizard training or measurement of wizard error. This stems from a landscape of specialized, ``in-house'' systems, where individual labs develop their own custom software for each study, tools that are rarely shared with other researchers. This forces labs to constantly reinvent control interfaces, hindering the replication and verification of scientific findings.
In response, the research community has developed several specialized WoZ platforms. A first wave of tools focused on creating powerful, flexible architectures. Polonius was designed as a robust interface for robotics engineers to create experiments for their non-programmer collaborators, featuring an integrated logging system to streamline data analysis \cite{Lu2011}. Similarly, OpenWoZ introduced an adaptable framework that used web protocols to allow different control interfaces to easily connect to the robot, empowering technical users to create deviations from the pre-programmed interaction scripts in real-time \cite{Hoffman2016}. While architecturally sophisticated, these tools still required significant technical expertise to set up and configure, keeping the accessibility barrier high.
A second wave of tools shifted focus to prioritize usability for a broader audience. WoZ4U was explicitly designed to be an ``easy-to-use tool for the Pepper robot'' that makes it easier for ``non-technical researchers to conduct Wizard-of-Oz experiments'' \cite{Rietz2021}. WoZ4U successfully lowered the accessibility barrier with an intuitive graphical interface. However, this usability was achieved by tightly coupling the software to a single type of robot. This approach creates a significant risk to platform longevity. As Pettersson and Wik note in a review of generic WoZ tools, systems that are too specialized often fall out of use as hardware becomes obsolete \cite{Pettersson2015}. This trade-off between capability, usability, and sustainability reveals a critical gap in the literature. No available tool exists that is simultaneously flexible, accessible, and can endure over time.
In response to this lack of an adequate tool, I designed HRIStudio by combining an intuitive web-based interface with a flexible architecture that allows it to support a wide range of current and future robots. The result is a single, sustainable platform that is both powerful enough for complex experiments and accessible enough for interdisciplinary research teams.
\section{Description}
I created HRIStudio as an integrated, web-based platform designed to manage the entire lifecycle of a WoZ experiment in social robotics: from interaction design, through live execution, to final analysis. I designed the platform around three core principles: making research accessible to non-programmers, ensuring the experiments are reproducible, and providing a time-enduring tool for the HRI community.
To solve the challenge of accessibility, I provide researchers with tools to visually map out an experiment's flow, much like creating a storyboard for a film. This intuitive approach allows a social scientist, for example, to design a complex HRI without writing a single line of code. The platform provides different interfaces to facilitate collaboration between the members of a team: A researcher gets a design canvas to build the study, the wizard gets a streamlined control panel to run the experiment, and an observer gets a tool for taking timestamped notes.
To enable experiment reproducibility, I designed HRIStudio to mitigate key methodological challenges inherent in WoZ research. The first challenge is inconsistent wizard behavior; a tired or distracted human operator can unintentionally introduce errors, compromising a study's validity. HRIStudio's wizard interface acts as a ``smart co-pilot,'' guiding the operator through the pre-designed script with clear prompts for what to do and say next. This minimizes human error and increases the likelihood of a standardized experience for every participant. The second challenge lies in the complex task of managing experimental data. A typical study generates multiple streams of data that are difficult to synchronize manually, including video, audio, robot sensor logs, and wizard actions. The platform acts as a central recorder, automatically capturing and timestamping every data stream into a single, unified timeline. This simplifies analysis and allows another researcher to ``replay'' the entire experiment to verify and analyze the findings of another's study.
Finally, to ensure the platform will be a time-enduring tool for the community, I designed the system to be robot-agnostic. Rather than being constrained to operate with a single kind of robot, the platform uses a system of standardized ``connectors,'' like a universal remote programmable for any television. This flexible architecture ensures that the platform will remain a valuable tool for the community long after any specific robot becomes obsolete, providing a stable, lasting foundation for future research.
\section{Significance}
This work is significant because it accelerates the foundational research needed to deploy social robots in critical societal roles, such as providing companionship for the elderly in assisted living facilities or acting as classroom aides for children with autism. My tool directly enables and accelerates the rigorous, human-centered research on which the success and public acceptance of these technologies depend.
The primary significance of HRIStudio is its potential to lower the barrier to entry for HRI research. By allowing for visual programming, the platform removes technical barriers that have traditionally limited this research to engineering disciplines. It invites the domain experts who should be leading these studies to design and execute their own experiments, leading to better research questions and effective robot behaviors.
My goal with HRIStudio is to elevate the scientific rigor of the field. By promoting a common structure for designing experiments and support for data collection, HRIStudio allows researchers to more easily replicate, verify, and build upon each other's work. This work supports the ongoing effort to make HRI a more cumulative science, where findings can be more easily verified and built upon by other researchers.
Ultimately, my work contributes a piece of critical, open-source infrastructure to the HRI community that directly addresses the documented challenges of accessibility, reproducibility, and sustainability. Beyond its immediate utility, the platform's architecture also serves as a tangible blueprint for web-based scientific tools, demonstrating a successful model for bridging the gap between an intuitive user interface and the complexity of controlling live robotic hardware.
The foundational concepts of this work have already been reported in two peer-reviewed publications at the IEEE International Conference on Robot and Human Interactive Communication \cite{OConnor2024, OConnor2025}. This work represents the culmination of that research, delivering the platform's full implementation, a critical evaluation by real users, and its release as a tool for the community.
\section{Independent Contribution}
This work builds upon a foundational collaboration with my adviser that led to two publications and the initial high-level design of the HRIStudio platform. For this work, my primary intellectual contribution is the independent execution of the project; I am the sole developer responsible for the complete software implementation and for the design and execution of the user study.
\section{Methods}
The foundational concepts and early architecture of HRIStudio have been established in prior work \cite{OConnor2024, OConnor2025}. The primary goal of this work is to translate that foundation into a complete, stable, and usable platform, and then rigorously evaluate its success. Therefore, the work is divided into two key phases: first, the final implementation of the platform's core features as outlined in the project timeline, and second, a formal user study to validate its impact on experimental consistency and efficiency.
The study will involve recruiting approximately 10-12 participants from non-engineering fields (e.g., Psychology, Education) who have experience designing experiments but little to no programming background. The core task will be to recreate a well-documented experiment from the HRI literature using the NAO6 robot. To ensure a level playing field, all participants will first attend a workshop on the software package they are assigned. The participants will be divided into two groups: a control group will use the manufacturer-provided Choregraphe software \cite{Pot2009}, and an experimental group will use HRIStudio.
My evaluation will focus on two primary outcomes. The first is methodological consistency: I will quantitatively assess the accuracy of each group's recreated experiment by comparing their final implementation against the original study's protocol. This will involve a detailed scoring rubric that measures discrepancies in robot behaviors, trigger logic, and dialogue. The second outcome is user experience: after the task, participants will complete a survey to provide qualitative and quantitative feedback on their assigned software. This mixed-methods approach will provide robust evidence to assess HRIStudio's effectiveness in making HRI research more accessible and reproducible.
A detailed project schedule, outlining all key milestones and deadlines, is provided in Appendix A.
\section{Conclusion}
This work addresses a significant bottleneck in HRI research. By creating HRIStudio, a web-based platform for Wizard-of-Oz experimentation, this work confronts the interconnected challenges of disciplinary accessibility and scientific reproducibility. The platform provides publicly available infrastructure that empowers non-technical domain experts to conduct rigorous HRI studies. Ultimately a common, accessible, and sustainable tool does more than just simplify experiments. It fosters a more collaborative and scientifically robust approach to the entire field of HRI.
\newpage
\bibliography{refs}
\bibliographystyle{plain}
\newpage
\appendix
\section*{Appendix A: Project Timeline}
\label{app:timeline}
\begin{table}[h!]
\centering
\renewcommand{\arraystretch}{1.5}
\begin{tabularx}{\textwidth}{|l|X|}
\hline
\textbf{Timeframe} & \textbf{Milestones \& Key Tasks} \\
\hline
\multicolumn{2}{|l|}{\textbf{Fall 2025: Development and Preparation}} \\
\hline
September & Finalize and submit this proposal (Due: Sept. 20).
Submit IRB application for the user study. \\
\hline
Oct -- Nov & Complete final implementation of core HRIStudio features.
Conduct extensive testing and bug-fixing to ensure platform stability. \\
\hline
December & Finalize all user study materials (consent forms, protocols, etc.).
Begin recruiting participants. \\
\hline
\multicolumn{2}{|l|}{\textbf{Spring 2026: Execution, Analysis, and Writing}} \\
\hline
Jan -- Feb & Upon receiving IRB approval, conduct all user study sessions. \\
\hline
March & Analyze all data from the user study.
Draft Results and Discussion sections.
Submit ``Intent to Defend'' form (Due: March 1). \\
\hline
April & Submit completed thesis draft to the defense committee (Due: April 1).
Prepare for and complete the oral defense (Due: April 20). \\
\hline
May & Incorporate feedback from the defense committee.
Submit the final, approved thesis by the university deadline. \\
\hline
\end{tabularx}
\end{table}
\end{document}

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@article{Lu2011,
title={{Polonius: A Wizard of Oz Interface for HRI Experiments}},
author={Lu, David V. and Smart, William D.},
journal={Proceedings of the 6th International Conference on Human-Robot Interaction},
pages={77--78},
year={2011},
publisher={ACM}
}
@article{Hoffman2016,
title={{OpenWoZ: A Runtime-Configurable Wizard-of-Oz Framework for Human-Robot Interaction}},
author={Hoffman, Guy and Breazeal, Cynthia},
journal={Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction},
pages={117--124},
year={2016},
publisher={IEEE}
}
@article{Porcheron2020,
title={{NottReal: A Tool for Rapid Prototyping of Human-Robot Interaction}},
author={Porcheron, Martin and Fischer, Joel E. and Reeves, Stuart},
journal={Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction},
pages={103--111},
year={2020},
publisher={ACM}
}
@article{Rietz2021,
title={{WoZ4U: An Open-Source Wizard-of-Oz Interface for Human-Robot Interaction}},
author={Rietz, Frank and Bennewitz, Maren},
journal={Proceedings of the 16th ACM/IEEE International Conference on Human-Robot Interaction},
pages={95--103},
year={2021},
publisher={IEEE}
}
@article{Riek2012,
author = {Riek, Laurel D.},
title = {{Wizard of Oz studies in HRI: a systematic review and new reporting guidelines}},
year = {2012},
issue_date = {July 2012},
publisher = {Journal of Human-Robot Interaction Steering Committee},
volume = {1},
number = {1},
url = {https://doi.org/10.5898/JHRI.1.1.Riek},
doi = {10.5898/JHRI.1.1.Riek},
abstract = {Many researchers use Wizard of Oz (WoZ) as an experimental technique, but there are methodological concerns over its use, and no comprehensive criteria on how to best employ it. We systematically review 54 WoZ experiments published in the primary HRI publication venues from 2001 -- 2011. Using criteria proposed by Fraser and Gilbert (1991), Green et al. (2004), Steinfeld et al. (2009), and Kelley (1984), we analyzed how researchers conducted HRI WoZ experiments. Researchers mainly used WoZ for verbal (72.2\%) and non-verbal (48.1\%) processing. Most constrained wizard production (90.7\%), but few constrained wizard recognition (11\%). Few reported measuring wizard error (3.7\%), and few reported pre-experiment wizard training (5.4\%). Few reported using WoZ in an iterative manner (24.1\%). Based on these results we propose new reporting guidelines to aid future research.},
journal = {J. Hum.-Robot Interact.},
month = jul,
pages = {119–136},
numpages = {18},
keywords = {systematic review, reporting guidelines, methodology, human-robot interaction, Wizard of Oz}
}
@inproceedings{Pettersson2015,
author = {{Pettersson, John S\"{o}ren and Wik, Malin}},
title = {{The longevity of general purpose Wizard-of-Oz tools}},
year = {2015},
isbn = {9781450336734},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
url = {https://doi.org/10.1145/2838739.2838825},
doi = {10.1145/2838739.2838825},
abstract = {The Wizard-of-Oz method has been around for decades, allowing researchers and practitioners to conduct prototyping without programming. An extensive literature review conducted by the authors revealed, however, that the re-usable tools supporting the method did not seem to last more than a few years. While generic systems start to appear around the turn of the millennium, most have already fallen out of use.Our interest in undertaking this review was inspired by the ongoing re-development of our own Wizard-of-Oz tool, the Ozlab, into a system based on web technology.We found three factors that arguably explain why Ozlab is still in use after 15 years instead of the two-three years lifetime of other generic systems: the general approach used from its inception; its inclusion in introductory HCI curricula, and the flexible and situation-dependent design of the wizard's user interface.},
booktitle = {Proceedings of the Annual Meeting of the Australian Special Interest Group for Computer Human Interaction},
pages = {422–426},
numpages = {5},
keywords = {Wizard user interface, Wizard of Oz, Software Sustainability, Non-functional requirements, GUI articulation},
location = {Parkville, VIC, Australia},
series = {OzCHI '15}
}
@article{Porfirio2023,
title={{A Framework for Specifying Human-Robot Interaction}},
author={Porfirio, David and Sauppé, Allison and Albarghouthi, Aws and Mutlu, Bilge},
journal={ACM Transactions on Human-Robot Interaction},
volume={12},
number={1},
pages={1--32},
year={2023},
publisher={ACM}
}
@INPROCEEDINGS{Carpinella2017,
author={Carpinella, Colleen M. and Wyman, Alisa B. and Perez, Michael A. and Stroessner, Steven J.},
booktitle={2017 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI},
title={{The Robotic Social Attributes Scale (RoSAS): Development and Validation}},
year={2017},
volume={},
number={},
pages={254-262},
keywords={Robots;Anthropomorphism;Psychology;Safety;Eigenvalues and eigenfunctions;Loading;Reliability;Anthropomorphism;Human Factors;Human-Robot Interaction;Measurement;Perception;Personality Perception;Psychometric Scale;Robots;Robotics;Social Perception;Social Robots;Social Robotics},
doi={}}
@article{Bartneck2009,
author = {Bartneck, Christoph and Croft, Elizabeth and Kulic, Dana},
title = {{Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots}},
journal = {International Journal of Social Robotics},
volume = {1},
number = {1},
pages = {71-81},
doi = {10.1007/s12369-008-0001-3},
year = {2009}
}
@inproceedings{OConnor2024,
title = {{HRIStudio: A Framework for Wizard-of-Oz Experiments in Human-Robot Interaction Studies (Late Breaking Report)}},
author = {Sean O'Connor and L. Felipe Perrone},
year = {2024},
organization = {2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
abstract = {Human-robot interaction (HRI) research plays a pivotal role in shaping how robots communicate and collaborate with humans. However, conducting HRI studies, particularly those employing the Wizard-of-Oz (WoZ) technique, can be challenging. WoZ user studies can have complexities at the technical and methodological levels that may render the results irreproducible. We propose to address these challenges with HRIStudio, a novel web-based platform designed to streamline the design, execution, and analysis of WoZ experiments. HRIStudio offers an intuitive interface for experiment creation, real-time control and monitoring during experimental runs, and comprehensive data logging and playback tools for analysis and reproducibility. By lowering technical barriers, promoting collaboration, and offering methodological guidelines, HRIStudio aims to make human-centered robotics research easier, and at the same time, empower researchers to develop scientifically rigorous user studies.},
}
@inproceedings{OConnor2025,
title = {{A Web-Based Wizard-of-Oz Platform for Collaborative and Reproducible Human-Robot Interaction Research}},
author = {Sean O'Connor and L. Felipe Perrone},
year = {2025},
organization = {2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
abstract = {Human-robot interaction (HRI) research plays a pivotal role in shaping how robots communicate and collaborate with humans. However, conducting HRI studies can be challenging, particularly those employing the Wizard-of-Oz (WoZ) technique. WoZ user studies can have technical and methodological complexities that may render the results irreproducible. We propose to address these challenges with HRIStudio, a modular web-based platform designed to streamline the design, the execution, and the analysis of WoZ experiments. HRIStudio offers an intuitive interface for experiment creation, real-time control and monitoring during experimental runs, and comprehensive data logging and playback tools for analysis and reproducibility. By lowering technical barriers, promoting collaboration, and offering methodological guidelines, HRIStudio aims to make human-centered robotics research easier and empower researchers to develop scientifically rigorous user studies.},
}
@INPROCEEDINGS{Pot2009,
author={Pot, E. and Monceaux, J. and Gelin, R. and Maisonnier, B.},
booktitle={RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication},
title={Choregraphe: a graphical tool for humanoid robot programming},
year={2009},
volume={},
number={},
pages={46-51},
keywords={Humanoid robots;Robot programming;Mobile robots;Human robot interaction;Programming environments;Prototypes;Microcomputers;Software tools;Software prototyping;Man machine systems},
doi={10.1109/ROMAN.2009.5326209}}

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# LaTeX build artifacts (if they leak into root)
*.aux
*.bbl
*.blg
*.log
*.out
*.toc
*.lof
*.lot
*.fls
*.fdb_latexmk
*.synctex.gz
*.dvi
*.pdf
# Directories
build/
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# Makefile for Honors Thesis
BUILD_DIR = build
OUT_DIR = out
TEX_FILE = thesis.tex
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# Detect all chapter files so make rebuilds if they change
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all: $(FINAL_PDF)
$(FINAL_PDF): $(TEX_FILE) buthesis.cls refs.bib $(CHAPTERS)
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mkdir -p $(BUILD_DIR)/chapters
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pdflatex -output-directory=$(BUILD_DIR) -interaction=nonstopmode $(TEX_FILE)
# 2. BibTeX: Process .aux files to generate bibliography (.bbl)
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bibtex $(BUILD_DIR)/thesis || true
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pdflatex -output-directory=$(BUILD_DIR) -interaction=nonstopmode $(TEX_FILE)
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# Copy final PDF to output directory
cp $(BUILD_DIR)/thesis.pdf $(FINAL_PDF)
clean:
rm -rf $(BUILD_DIR)
rm -rf $(OUT_DIR)
.PHONY: all clean

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%%% LaTeX class file to produce format for Bucknell University
%%% Honors Thesis. Modification of standard LaTeX book class.
%%% This is very preliminary.
%%% Martin Ligare, Bucknell Physics Department
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\ProvidesClass{buthesis}[2001/04/28 Bucknell thesis class]
\LoadClass[12pt,onecolumn,oneside]{book}
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\newcommand{\acknowledgments}[1]{\thispagestyle{myheadings}\markright{}
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\mbox{}
\vspace{1.5in}
\begin{center}
{\large\bf Acknowledgments}
\end{center}
#1}
%%% Modify chapter so that page number on first page (of chapter,
%%% table of contents, etc., comes out according to Bucknell format.
\renewcommand\chapter{\if@openright\cleardoublepage\else\clearpage\fi
\thispagestyle{myheadings}\markright{}%
\global\@topnum\z@
\@afterindentfalse
\secdef\@chapter\@schapter}
\renewcommand*{\bibname}{References}
%%% Remove following after spring 2005 - Not necessary because page number
%%% location fixed in chapter environment
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\tableofcontents\thispagestyle{headings}\markright{}
\pagestyle{headings}}
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\pagestyle{empty}
\chapter*{Abstract}
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\thispagestyle{myheadings}\markright{}
#1
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\renewcommand{\maketitle}{\begin{titlepage}
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\begin{center}
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\large
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\vspace{0.1in}
by\\
\vspace{0.5in}
\@author\\
\vspace{0.5in}
A Thesis\\
\vspace{0.1in}
Presented to the Faculty of\\
\vspace{0.05in}
Bucknell University\\
\vspace{0.05in}
in Partial Fulfillment of the Requirements for the Degree of\\
\vspace{0.05in}
\degreename\ with Honors in \departmentname\\
\vspace{0.1in}
\today
\end{center}
\ifthenelse{\boolean{@twoadv}}{
\vspace{0,5in}
Approved: \hspace{0.2in}\underline{\hspace{2.5in}}\\
\mbox{\hspace{1.3in}}\advisorname\\
\mbox{\hspace{1.3in}}Thesis Advisor
\vspace{0.25in}
\mbox{\hspace{1.0in}}\underline{\hspace{2.5in}}\\
\mbox{\hspace{1.3in}}\advisornameb\\
\mbox{\hspace{1.3in}}Thesis Advisor
\vspace{0.25in}
\mbox{\hspace{1.0in}}\underline{\hspace{2.5in}}\\
\mbox{\hspace{1.3in}}\chairname\\
\mbox{\hspace{1.3in}}Chair, Department of \departmentname}
{\vspace{1.0in}
Approved: \hspace{0.2in}\underline{\hspace{2.5in}}\\
\mbox{\hspace{1.3in}}\advisorname \\
\mbox{\hspace{1.3in}}Thesis Advisor
\vspace{0.5in}
\mbox{\hspace{1.0in}}\underline{\hspace{2.5in}}\\
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\endinput

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\chapter{Introduction}
\label{ch:intro}
\section{Motivation}
% TODO
\section{HRIStudio Overview}
% TODO
\section{Research Objectives}
% TODO

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\chapter{Background and Context}
\label{ch:background}
\section{Human-Robot Interaction and Wizard-of-Oz}
% TODO
\section{Project Context}
% TODO
\section{Prior Work}
% TODO

14
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\chapter{Related Work and State of the Art}
\label{ch:related_work}
\section{Existing Frameworks}
% TODO
\section{General vs. Domain-Specific Tools}
% TODO
\section{Methodological Critiques}
% TODO
\section{Research Gaps}
% TODO

11
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\chapter{Reproducibility Challenges in WoZ-based HRI Research}
\label{ch:reproducibility}
\section{Sources of Variability}
% TODO
\section{Infrastructure and Reporting}
% TODO
\section{Platform Requirements}
% TODO

23
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\chapter{System Design: HRIStudio Platform}
\label{ch:design}
\section{Design Goals}
% TODO
\section{High-Level Architecture}
% TODO
\section{Hierarchical Experimental Model}
% TODO
\section{Visual Experiment Designer}
% TODO
\section{Execution Interfaces}
% TODO
\section{Robot Integration and Plugins}
% TODO
\section{Data Management}
% TODO

11
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\chapter{Implementation Details}
\label{ch:implementation}
\section{Technology Stack}
% TODO
\section{Technical Challenges}
% TODO
\section{System Capabilities}
% TODO

11
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\chapter{Experimental Evaluation of HRIStudio}
\label{ch:evaluation}
\section{Evaluation Goals}
% TODO
\section{Study Design}
% TODO
\section{Procedure}
% TODO

8
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\chapter{Results}
\label{ch:results}
\section{Quantitative Results}
% TODO
\section{Qualitative Findings}
% TODO

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\chapter{Discussion}
\label{ch:discussion}
\section{Interpretation of Findings}
% TODO
\section{Comparison to Prior Work}
% TODO
\section{Limitations}
% TODO

8
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\chapter{Conclusion and Future Work}
\label{ch:conclusion}
\section{Contributions}
% TODO
\section{Future Directions}
% TODO

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\chapter{Study Materials}
\label{app:materials}
\section{Protocols}
% TODO
\section{IRB Materials}
% TODO
\section{Questionnaires}
% TODO

8
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\chapter{Technical Documentation}
\label{app:tech_docs}
\section{Deployment}
% TODO
\section{Plugin Specification}
% TODO

15
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\documentclass{article}
\usepackage{tikz}
\usepackage[margin=0.5in]{geometry}
\begin{document}
\pagestyle{empty}
\begin{center}
\begin{tikzpicture}
% Draw a speaker shape
\draw[thick] (0,0) -- (0,3) -- (1,4) -- (3,4) -- (3,0) -- cycle;
\draw[thick] (1,3) -- (1,1) -- (2,1) -- (2,3) -- cycle;
\draw[thick] (1.5,2) circle (0.3);
\node at (1.5,5) {Placeholder Speaker Image};
\end{tikzpicture}
\end{center}
\end{document}

132
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@article{Lu2011,
title={{Polonius: A Wizard of Oz Interface for HRI Experiments}},
author={Lu, David V. and Smart, William D.},
journal={Proceedings of the 6th International Conference on Human-Robot Interaction},
pages={77--78},
year={2011},
publisher={ACM}
}
@article{Hoffman2016,
title={{OpenWoZ: A Runtime-Configurable Wizard-of-Oz Framework for Human-Robot Interaction}},
author={Hoffman, Guy and Breazeal, Cynthia},
journal={Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction},
pages={117--124},
year={2016},
publisher={IEEE}
}
@article{Porcheron2020,
title={{NottReal: A Tool for Rapid Prototyping of Human-Robot Interaction}},
author={Porcheron, Martin and Fischer, Joel E. and Reeves, Stuart},
journal={Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction},
pages={103--111},
year={2020},
publisher={ACM}
}
@article{Rietz2021,
title={{WoZ4U: An Open-Source Wizard-of-Oz Interface for Human-Robot Interaction}},
author={Rietz, Frank and Bennewitz, Maren},
journal={Proceedings of the 16th ACM/IEEE International Conference on Human-Robot Interaction},
pages={95--103},
year={2021},
publisher={IEEE}
}
@article{Riek2012,
author = {Riek, Laurel D.},
title = {{Wizard of Oz studies in HRI: a systematic review and new reporting guidelines}},
year = {2012},
issue_date = {July 2012},
publisher = {Journal of Human-Robot Interaction Steering Committee},
volume = {1},
number = {1},
url = {https://doi.org/10.5898/JHRI.1.1.Riek},
doi = {10.5898/JHRI.1.1.Riek},
abstract = {Many researchers use Wizard of Oz (WoZ) as an experimental technique, but there are methodological concerns over its use, and no comprehensive criteria on how to best employ it. We systematically review 54 WoZ experiments published in the primary HRI publication venues from 2001 -- 2011. Using criteria proposed by Fraser and Gilbert (1991), Green et al. (2004), Steinfeld et al. (2009), and Kelley (1984), we analyzed how researchers conducted HRI WoZ experiments. Researchers mainly used WoZ for verbal (72.2\%) and non-verbal (48.1\%) processing. Most constrained wizard production (90.7\%), but few constrained wizard recognition (11\%). Few reported measuring wizard error (3.7\%), and few reported pre-experiment wizard training (5.4\%). Few reported using WoZ in an iterative manner (24.1\%). Based on these results we propose new reporting guidelines to aid future research.},
journal = {J. Hum.-Robot Interact.},
month = jul,
pages = {119–136},
numpages = {18},
keywords = {systematic review, reporting guidelines, methodology, human-robot interaction, Wizard of Oz}
}
@inproceedings{Pettersson2015,
author = {{Pettersson, John S\"{o}ren and Wik, Malin}},
title = {{The longevity of general purpose Wizard-of-Oz tools}},
year = {2015},
isbn = {9781450336734},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
url = {https://doi.org/10.1145/2838739.2838825},
doi = {10.1145/2838739.2838825},
abstract = {The Wizard-of-Oz method has been around for decades, allowing researchers and practitioners to conduct prototyping without programming. An extensive literature review conducted by the authors revealed, however, that the re-usable tools supporting the method did not seem to last more than a few years. While generic systems start to appear around the turn of the millennium, most have already fallen out of use.Our interest in undertaking this review was inspired by the ongoing re-development of our own Wizard-of-Oz tool, the Ozlab, into a system based on web technology.We found three factors that arguably explain why Ozlab is still in use after 15 years instead of the two-three years lifetime of other generic systems: the general approach used from its inception; its inclusion in introductory HCI curricula, and the flexible and situation-dependent design of the wizard's user interface.},
booktitle = {Proceedings of the Annual Meeting of the Australian Special Interest Group for Computer Human Interaction},
pages = {422–426},
numpages = {5},
keywords = {Wizard user interface, Wizard of Oz, Software Sustainability, Non-functional requirements, GUI articulation},
location = {Parkville, VIC, Australia},
series = {OzCHI '15}
}
@article{Porfirio2023,
title={{A Framework for Specifying Human-Robot Interaction}},
author={Porfirio, David and Sauppé, Allison and Albarghouthi, Aws and Mutlu, Bilge},
journal={ACM Transactions on Human-Robot Interaction},
volume={12},
number={1},
pages={1--32},
year={2023},
publisher={ACM}
}
@INPROCEEDINGS{Carpinella2017,
author={Carpinella, Colleen M. and Wyman, Alisa B. and Perez, Michael A. and Stroessner, Steven J.},
booktitle={2017 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI},
title={{The Robotic Social Attributes Scale (RoSAS): Development and Validation}},
year={2017},
volume={},
number={},
pages={254-262},
keywords={Robots;Anthropomorphism;Psychology;Safety;Eigenvalues and eigenfunctions;Loading;Reliability;Anthropomorphism;Human Factors;Human-Robot Interaction;Measurement;Perception;Personality Perception;Psychometric Scale;Robots;Robotics;Social Perception;Social Robots;Social Robotics},
doi={}}
@article{Bartneck2009,
author = {Bartneck, Christoph and Croft, Elizabeth and Kulic, Dana},
title = {{Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots}},
journal = {International Journal of Social Robotics},
volume = {1},
number = {1},
pages = {71-81},
doi = {10.1007/s12369-008-0001-3},
year = {2009}
}
@inproceedings{OConnor2024,
title = {{HRIStudio: A Framework for Wizard-of-Oz Experiments in Human-Robot Interaction Studies (Late Breaking Report)}},
author = {Sean O'Connor and L. Felipe Perrone},
year = {2024},
organization = {2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
abstract = {Human-robot interaction (HRI) research plays a pivotal role in shaping how robots communicate and collaborate with humans. However, conducting HRI studies, particularly those employing the Wizard-of-Oz (WoZ) technique, can be challenging. WoZ user studies can have complexities at the technical and methodological levels that may render the results irreproducible. We propose to address these challenges with HRIStudio, a novel web-based platform designed to streamline the design, execution, and analysis of WoZ experiments. HRIStudio offers an intuitive interface for experiment creation, real-time control and monitoring during experimental runs, and comprehensive data logging and playback tools for analysis and reproducibility. By lowering technical barriers, promoting collaboration, and offering methodological guidelines, HRIStudio aims to make human-centered robotics research easier, and at the same time, empower researchers to develop scientifically rigorous user studies.},
}
@inproceedings{OConnor2025,
title = {{A Web-Based Wizard-of-Oz Platform for Collaborative and Reproducible Human-Robot Interaction Research}},
author = {Sean O'Connor and L. Felipe Perrone},
year = {2025},
organization = {2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
abstract = {Human-robot interaction (HRI) research plays a pivotal role in shaping how robots communicate and collaborate with humans. However, conducting HRI studies can be challenging, particularly those employing the Wizard-of-Oz (WoZ) technique. WoZ user studies can have technical and methodological complexities that may render the results irreproducible. We propose to address these challenges with HRIStudio, a modular web-based platform designed to streamline the design, the execution, and the analysis of WoZ experiments. HRIStudio offers an intuitive interface for experiment creation, real-time control and monitoring during experimental runs, and comprehensive data logging and playback tools for analysis and reproducibility. By lowering technical barriers, promoting collaboration, and offering methodological guidelines, HRIStudio aims to make human-centered robotics research easier and empower researchers to develop scientifically rigorous user studies.},
}
@INPROCEEDINGS{Pot2009,
author={Pot, E. and Monceaux, J. and Gelin, R. and Maisonnier, B.},
booktitle={RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication},
title={Choregraphe: a graphical tool for humanoid robot programming},
year={2009},
volume={},
number={},
pages={46-51},
keywords={Humanoid robots;Robot programming;Mobile robots;Human robot interaction;Programming environments;Prototypes;Microcomputers;Software tools;Software prototyping;Man machine systems},
doi={10.1109/ROMAN.2009.5326209}}

232
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%documentclass{buthesis} %Gives author-year citation style
\documentclass[numbib]{buthesis} %Gives numerical citation style
%\documentclass[twoadv}{buthesis} %Allows entry of second advisor
%\usepackage{graphics} %Select graphics package
\usepackage{graphicx} %
%\usepackage{amsthm} %Add other packages as necessary
\begin{document}
\butitle{This is the title of my thesis. It will come out in capital
letters as requested}
\author{A. Student}
\degree{Bachelor of Science}
\department{Physics}
\advisor{Martin K. Ligare}
%\advisorb{Jane Doe} %Second advisor if necessary
\chair{David Schoepf}
\maketitle
\frontmatter
\acknowledgments{Thanks to everybody I know, from my parents, to my childhood
friends and kindergarten teacher. I didn't learn everything
I needed to know in kindergarten, but it came close. I guess
I should thank my thesis advisor too.}
\tableofcontents
\listoftables
\listoffigures
\abstract{Here is my abstract. Here is my abstract. Here is my abstract.
Here is my abstract. Here is my abstract. Here is my abstract. Here is my
abstract. Here is my abstract.}
\mainmatter
\chapter{Introduction}
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph has a
citation \cite{LIG04} that you can see.
I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
%\begin{proof}
%blah blah fill in the proof.
%\end{proof}
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph
will be written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
\chapter[Long chapter]{This chapter has a long name.}
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough. This
paragraph will be written with standard margins. I will repeat lines
as necessary to make it long enough. This paragraph will be written
with standard margins. I will repeat lines as necessary to make it
long enough. This paragraph will be written with standard margins. I
will repeat lines as necessary to make it long enough.
Where does this go?
This is the equation of a straight line:
\begin{equation}
y = mx + b.
\end{equation}
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough. This
paragraph will be written with standard margins. I will repeat lines
as necessary to make it long enough. This paragraph will be written
with standard margins. I will repeat lines as necessary to make it
long enough. This paragraph will be written with standard margins. I
will repeat lines as necessary to make it long enough.
Where does this go?
This is the equation of a straight line:
\begin{equation}
y = mx + b.
\end{equation}
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough. This
paragraph will be written with standard margins. I will repeat lines
as necessary to make it long enough. This paragraph will be written
with standard margins. I will repeat lines as necessary to make it
long enough. This paragraph will be written with standard margins. I
will repeat lines as necessary to make it long enough.
Where does this go?
This is the equation of a straight line:
\begin{equation}
y = mx + b.
\end{equation}
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
\begin{figure}[t]
\begin{center}
\includegraphics[width=3.0in]{speaker.pdf}
\end{center}
\caption[Short caption for figure]{This is a figure from PHYS 212 exam 2. I
want to see the font used for the caption, and width of lines, etc. I
may want to design our own figure environment. Figures not
automatically centered either.}
\label{f_speaker}
\end{figure}
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough.
This paragraph will be written with standard margins. I will repeat
lines as necessary to make it long enough. Here's a citation \cite{LIG05}.
This paragraph will be
written with standard margins. I will repeat lines as necessary to
make it long enough. This paragraph will be written with standard
margins. I will repeat lines as necessary to make it long enough. This
paragraph will be written with standard margins. I will repeat lines
as necessary to make it long enough. This paragraph will be written
with standard margins. I will repeat lines as necessary to make it
long enough. This paragraph will be written with standard margins. I
will repeat lines as necessary to make it long enough.
Where does this go?
This is the equation of a straight line:
\begin{equation}
y = mx + b.
\end{equation}
\backmatter
\bibliographystyle{thesis_num} %This uses BU thesis file thesis_num.bst
%\bibliographystyle{abbrvnat}
%\bibliographystyle{unsrtnat}
%\bibliographystyle{plainnat}
%%%%Use following line if bibtex is being used.
\bibliography{samplebib.bib}
%%%Use following if references are being entered by hand.
%\begin{thebibliography}{99}
%\bibitem[Smith(2005)]{SMI05}J.~Smith, ``An even better paper,''
%J.~Better Phys., {\bf 2}, 294 (2005).
%\bibitem[Ligare(2004)]{LIG04}M.~Ligare, ``A very good paper,''
%J.~Good Phys., {\bf 2}, 294 (2004).
%\end{thebibliography}
\end{document}