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Online inference of human belief for cooperative robots

Bühler, Moritz ; Weisswange, Thomas (2019)
Online inference of human belief for cooperative robots.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain (01.05. - 05.10.2018)
Conference or Workshop Item, Secondary publication

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Item Type: Conference or Workshop Item
Type of entry: Secondary publication
Title: Online inference of human belief for cooperative robots
Language: English
Date: 18 January 2019
Place of Publication: Darmstadt
Year of primary publication: 2019
Publisher: IEEE
Event Title: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location: Madrid, Spain
Event Dates: 01.05. - 05.10.2018
Corresponding Links:
Abstract:

For human-robot cooperation, inferring a human's cognitive state is very important for an efficient and natural interaction. Similar to human-human cooperation, understanding what the partner plans and knowing, if he is situation aware, is necessary to prevent collisions, offer support at the right time, correct mistakes before they happen or choose the best actions for oneself as early as possible. We propose a model-based belief filter to extract relevant aspects of a human's mental state online during cooperation. It performs inference based on human actions and its own task knowledge, modeling cognitive processes like perception and action selection. In contrast to most prior work, we explicitly estimate the human belief instead of inferring only a single mode or intention. Since this is a double inference process, we focus on representing the human estimates of environmental state and task as well as corresponding uncertainties. We designed a human-robot cooperation experiment that allowed for a variety of cognitive states of both agents and collected data to test and evaluate the proposed belief filter. The results are promising, as our system can be used to provide reasonable predictions of the human action and insights into his situation awareness. At the same time it is inferring interpretable information about the underlying cognitive states - A belief about the human's belief about the environment.

URN: urn:nbn:de:tuda-tuprints-82953
Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics (from 01.08.2022 renamed Control Methods and Intelligent Systems)
Date Deposited: 18 Jan 2019 14:16
Last Modified: 08 Dec 2023 08:06
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/8295
PPN: 442923481
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