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The design of current natural language oriented robot architectures enablescertain architectural components to circumvent moral reasoning capabilities.One example of this is reflexive generation of clarification requests as soonas referential ambiguity is detected in a human utterance. As shown in previousresearch, this can lead robots to (1) miscommunicate their moral dispositionsand (2) weaken human perception or application of moral norms within theircurrent context. We present a solution to these problems by performing moralreasoning on each potential disambiguation of an ambiguous human utterance andresponding accordingly, rather than immediately and naively requestingclarification. We implement our solution in the DIARC robot architecture,which, to our knowledge, is the only current robot architecture with both moralreasoning and clarification request generation capabilities. We then evaluateour method with a human subjects experiment, the results of which indicate thatour approach successfully ameliorates the two identified concerns.

Enabling Morally Sensitive Robotic Clarification Requests