@article{arnold2021thri, title={Explaining In Time: Meeting Interactive Standards of Explanation for Robotic Systems}, author={Thomas Arnold and Daniel Kasenberg and Matthias Scheutz}, journal={ACM Trans. Hum.-Robot Interact.}, issue_date={}, volume={}, number={}, month={}, year={2021}, publisher={ACM}, synopsis={In this paper we show how a social robot?s actions can face explanatory demands for how projects={norm, mc}, topics={hri, ethics, moral, arch, dia, prag, comm}, }

@article{sarathy2019thri, author = {Vasanth Sarathy and Thomas Arnold and Matthias Scheutz}, title = {When Exceptions are the Norm: Exploring the Role of Consent journal = {ACM Trans. Hum.-Robot Interact.}, issue_date = {September 2019}, volume = {9}, number = {2}, month ={sept}, year = {2019}, publisher = {ACM}, address = {New York, NY, USA}, synopsis={In this paper, we propose consent as projects={norm,mc}, topics={ethics,hri,moral,arch}, }

@article{arnold2018typetoken, doi = {10.1007/s10676-018-9485-1}, url = {https://doi.org/10.1007/s10676-018-9485-1}, year = {2018}, month = {nov}, publisher = {Springer Nature America, Inc}, author = {Thomas Arnold and Matthias Scheutz}, title = {{HRI} ethics and type-token ambiguity: what kind of robotic identity is most responsible?}, journal = {Ethics and Information Technology}, projects={mc, norm}, topics={ethics, hri}, image={}, video={}, synopsis={We explore the ethical challenges of a robot being taken as a general system and as a particular, discrete machine.}, }

@InProceedings{kasenbergetal2018icres, author={Daniel Kasenberg and Vasanth Sarathy and Thomas Arnold and Matthias Scheutz and Tom Williams}, title={Quasi-Dilemmas for Artificial Moral Agents}, year={2018}, booktitle={International Conference on Robot Ethics and Standards}, synopsis={We describe moral quasi-dilemmas: situations similar to moral dilemmas, but in which an agent is unsure whether exploring the plan space or the world may reveal a course of action that satisfies all moral requirements. We argue that artificial moral agents should be built to handle MQDs, and that MQDs may be useful for evaluating AMA architectures.}, projects={mc, norm}, topics={ethics, moral}, image={}, video={}, }

@Article{arnold2018big, title={The ``Big Red Button'' Is Too Late: an Alternative Model For the Ethical Evaluation of AI Systems}, author={Thomas Arnold and Matthias Scheutz}, journal={Ethics and Information Technology}, pages={1--11}, year={2018}, publisher={Springer}, projects={mc, norm}, topics={ethics, hri}, image={}, video={}, synopsis={We describe the demands that recent big red button proposals have failed to address, and we offer a preliminary model of an approach based on an ethical core (EC) consisting of a scenario-generating mechanism and a simulation environment.}, presentation={}, }

@InProceedings{arnold2018hri, author={Thomas Arnold and Matthias Scheutz}, title={Observing Robot Touch in Context: How Does Touch and Attitude Affect Perception of a Robot's Social Qualities?}, booktitle={Proceedings of the 13th ACM/IEEE International Conference on Human-Robot Interaction}, year={2018}, projects={mc, norm}, topics={hri, ethics}, image={}, video={}, presentation={https://hrilab.tufts.edu/presentations/arnold2018hri.pdf}, synopsis={We examine how the observation of a robot-initiated touch, shown in a task scenario and accompanied by either a positive or negative attitude in the robot's verbal feedback, affects how a robot's social qualities are evaluated.}, }

@InProceedings{kasenbergetal18aies, title={Norms, Rewards, and the Intentional Stance: Comparing Machine Learning Approaches to Ethical Training}, booktitle={Proceedings of the 1st AAAI/ACM Workshop on Artificial Intelligence, Ethics, and Society}, year={2018}, author={Daniel Kasenberg and Thomas Arnold and Matthias Scheutz}, topics={ethics,moral,learn}, projects={norm,mc}, synopsis={We compare our norm inference approach with inverse reinforcement learning for the task of learning moral and social norms from demonstrators that either are governed by explicit temporal logic representations of norms, or are reward-maximizing. We argue that our approach can be thought of as analogous to Dennett's ``intentional stance''.}, }

@Article{arnoldscheutz2017tactile, title={The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction}, author={Thomas Arnold and Matthias Scheutz}, journal={Soft Robotics}, volume={4}, number={2}, pages={81--87}, year={2017}, topics={ethics,hri}, projects={norm,mc}, synopsis={We explore unaddressed ethical questions that are arising for soft robotics design. We argue that intimacy and bonding instincts should be considered lest robots with bodies that invite touch, manipulate, deceive or harm the people that interact with them.}, }

@InCollection{scheutz2017intimacy, author={Matthias Scheutz and Thomas Arnold}, title={Intimacy, Bonding, and Sex Robots: Examining Empirical Results and Exploring Ethical Ramifications}, year={2017}, booktitle={Robot Sex: Social and Ethical Implications (working title)}, publisher={MIT Press}, editor={John Danaher and Neil McArthur}, projects={norm}, topics={ethics,hri}, synopsis={We present an expansion of our previous survey, the first systematic one of attitudes toward sexual interaction with robots. We find similar gender effects to what our first paper did, and we argue the results point toward intimacy as an critical area for HRI ethics to tackle, a broader area than sexuality alone.}, }

@InProceedings{arnold2017beyond, author={Thomas Arnold and Matthias Scheutz}, title={Beyond Moral Dilemmas: Exploring the Ethical Landscape in HRI}, booktitle={Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction}, pages={445--452}, year={2017}, projects={norm,mc}, topics={ethics,hri,moral}, presentation={https://hrilab.tufts.edu/presentations/arnold2017hri.pdf}, synopsis={This paper presents three areas for HRI ethics that can get lost in more attention-getting debates about killer robots or sex robots: tactile and proprioceptive modes of interaction, competing interests in concrete contexts for interaction, and group dynamics in decision-making.}, }

@InProceedings{arnoldetal17aiethics, author = {Thomas Arnold and Daniel Kasenberg and Matthias Scheutz}, title = {Value Alignment or Misalignment -- What Will Keep Systems Accountable?}, booktitle = {{AAAI} Workshop on {AI}, Ethics, and Society}, year = {2017}, projects={norm,mc,plan}, topics={ethics,hri,moral,prag}, synopsis={We present here a critique of a turn toward inverse reinforcement-learning as a way to guarantee ethical AI systems. We argue that a hybrid architecture, which can represent norms explicitly, is necessary for basic social coordination and moral reasoning between people and AI systems.}, }

@article{arnold2016against, title={Against the moral Turing test: accountable design and the moral reasoning of autonomous systems}, author={Thomas Arnold and Matthias Scheutz}, journal={Ethics and Information Technology}, volume={18}, number={2}, pages={103--115}, year={2016}, publisher={Springer}, projects={mc,norm}, topics={ethics,hri,moral}, synopsis={We argue in this paper that the idea of a "moral Turing test" is insufficient for an ethical evaluation of an autonomous system's behavior. We propose that verification, where the behavior of a system is designed for transparency and explicitly represents decision-making based on norms, is a better standard of evaluation.}, }

@InProceedings{scheutz2016feats, title={Feats Without Heroes: Norms, Means, and Ideal Robotic Action}, author={Matthias Scheutz and Thomas Arnold}, journal={Frontiers in Robotics and AI}, volume={3}, pages={32}, year={2016}, publisher={Frontiers}, projects={norm,mc}, topics={ethics,hri,moral}, synopsis={Autonomous systems may have extraordinary abilities that changes how people apply norms to them, for example self-sacrifice. This paper spells out how a system might decide on an extraordinary means to fulfill in a norm in context.}, }

@InProceedings{wilsonetal16aaaiethics, author={Jason R. Wilson and Thomas Arnold and Matthias Scheutz}, title={Relational Enhancement: A Framework for Evaluating and Designing Human-Robot Relationships}, booktitle={Proceedings of the AAAI Workshop on AI, Ethics, and Society}, year={2016}, }

@InProceedings{sarathyetal16hrisocial, author={Vasanth Sarathy and Jason Wilson and Thomas Arnold and Matthias Scheutz}, title={Enabling Basic Normative HRI in a Cognitive Robotic Architecture}, booktitle={Proceedings of the 2nd workshop on Cognitive Architectures for Social Human-Robot Interactionat the 11th ACM/IEEE Conference on Human-Robot Interaction}, year={2016}, projects={norm,aff,mc}, topics={hri,vision,arch,ethics,moral}, synopsis={We propose a promising mechanism in an integrated robotic architecture for reasoning about the social and moral propriety of situations. This sort of normative mechanism is valuable especially in collaborative tasks where actions and situations could potentially be perceived as threatening and thus need a change in course of action to mitigate the perceived threats.}, }

@InProceedings{scheutzarnold16hri, author={Matthias Scheutz and Thomas Arnold}, title={Are we ready for sex robots?}, booktitle={Proceedings of the 11th ACM/IEEE Conference on Human-Robot Interaction}, year={2016}, }

@InCollection{malleetal15hri, author = {Bertram F. Malle and Matthias Scheutz and Thomas H. Arnold and John T. Voiklis and Corey Cusimano}, title = {Sacrifice One For the Good of Many? People Apply Different booktitle = {Proceedings of 10th ACM/IEEE International Conference on Human-Robot Interaction}, year = {2015}, }