Inferring robot task plans from human team meetings: A generative modeling approach with logic-based prior
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...
| Main Authors: | , , |
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| Format: | Article |
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Association for Computing Machinery
2018
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| Online Access: | http://hdl.handle.net/1721.1/116054 https://orcid.org/0000-0003-1338-8107 |
| Summary: | 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% accuracy on average. We also describe a robot demonstration in which two 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. © 2013, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. |
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