DeepAI AI Chat
Log In Sign Up

Inferring Robot Task Plans from Human Team Meetings: A Generative Modeling Approach with Logic-Based Prior

06/05/2013
by   Been Kim, et al.
MIT
0

We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains, such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then translates the agreed upon plan into machine instructions for the robots. We present an algorithm that reduces this translation burden by inferring the final plan from a processed form of the human team's planning conversation. Our approach combines probabilistic generative modeling with logical plan validation used to compute a highly structured prior over possible plans. This hybrid approach enables us to overcome the challenge of performing inference over the large solution space with only a small amount of noisy data from the team planning session. We validate the algorithm through human subject experimentation and show we are able to infer a human team's final plan with 83 people plan and execute a first-response collaborative task with a PR2 robot. To the best of our knowledge, this is the first work that integrates a logical planning technique within a generative model to perform plan inference.

READ FULL TEXT

page 1

page 2

page 3

page 4

05/16/2018

Modeling Human Inference of Others' Intentions in Complex Situations with Plan Predictability Bias

A recent approach based on Bayesian inverse planning for the "theory of ...
01/17/2019

Interactive Plan Explicability in Human-Robot Teaming

Human-robot teaming is one of the most important applications of artific...
10/28/2021

Human-Computer Interaction Glow Up: Examining Operational Trust and Intention Towards Mars Autonomous Systems

Tactful coordination on earth between hundreds of operators from diverse...
01/30/2023

Team Plan Recognition: A Review of the State of the Art

There is an increasing need to develop artificial intelligence systems t...
08/12/2020

Assisted Teleoperation in Changing Environments with a Mixture of Virtual Guides

Haptic guidance is a powerful technique to combine the strengths of huma...
02/14/2018

Generating Plans that Predict Themselves

Collaboration requires coordination, and we coordinate by anticipating o...