When May I Help You? On The Effect of Proactivity on Group Human-Robot Collaboration

Robot initiative is a central challenge in multi-party human-robot collaboration. A robot that contributes without being addressed may provide timely support, but it may also disrupt coordination, divide attention, or interrupt turn-taking; a robot that waits to be addressed may preserve human control, but it may also miss opportunities to assist. We investigate this design challenge in a collaborative escape room in which pairs of participants work with a humanoid robot under either a reactive interaction model, where the robot responds only when addressed, or a proactive model, where it listens continuously, contributes autonomously, and periodically re-initiates interaction. We evaluate both models using puzzle-solving performance, interaction frequency, and participant ratings on the Godspeed and RoSAS scales. The proactive model substantially increases interaction frequency, whereas the reactive model shows a descriptively higher overall success rate (92.86% vs. 71.42%). The strongest differences emerge when prior experience and personality are taken into account: participants with LLM experience solve the early puzzles faster in the reactive condition, and participants with prior robot experience show modified evaluations of proactive and reactive interaction as do introverted participants. These findings demonstrate that the effects of robot initiative are simultaneously shaped by users' prior experience, personality traits and more generally by the needs of the group.

@InProceedings{VMEHAGHBW26,
 	 author =  {Vitry, Thomas and Maeder, Vanessa and Edgeworth, Kieran and Hazaiti, Asihati and Ates, Doga Deniz and Gaede, Connor and Habekost, Jan-Gerrit and Becker, Dennis and Wermter, Stefan},
 	 title = {When May I Help You? On The Effect of Proactivity on Group Human-Robot Collaboration},
 	 booktitle = {Proceedings of the 35th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2026)},
 	 journal = {}
 	 editors = {}
 	 number = {}
 	 volume = {}
 	 pages = {}
 	 year = {2026},
 	 month = {Jul},
 	 publisher = {}
 	 doi = {10.48550/arXiv.2606.28469},
 	 url = {https://arxiv.org/abs/2606.28469},
 }