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)
Konferenzveröffentlichung, Zweitveröffentlichung, Postprint
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Kurzbeschreibung (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.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2019 |
| Autor(en): | Bühler, Moritz ; Weisswange, Thomas |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Online inference of human belief for cooperative robots |
| Sprache: | Englisch |
| Publikationsjahr: | 18 Januar 2019 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2019 |
| Verlag: | IEEE |
| Veranstaltungstitel: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Veranstaltungsort: | Madrid, Spain |
| Veranstaltungsdatum: | 01.05. - 05.10.2018 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/8295 |
| Zugehörige Links: | |
| Kurzbeschreibung (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. |
| Status: | Postprint |
| URN: | urn:nbn:de:tuda-tuprints-82953 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 20 Jun 2024 16:31 |
| Letzte Änderung: | 20 Jun 2024 16:31 |
| PPN: | 442923481 |
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| Suche nach Titel in: | TUfind oder in Google |
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