Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks
© 2020 Association for Computing Machinery. Communication is critical to collaboration; however, too much of it can degrade performance. Motivated by the need for effective use of a robot's communication modalities, in this work, we present a computational framework that decides if, when, and w...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
ACM
2021
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| Online Access: | https://hdl.handle.net/1721.1/137328 |
| _version_ | 1826213129058516992 |
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| author | Unhelkar, Vaibhav Vasant Li, Shen Shah, Julie A |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Unhelkar, Vaibhav Vasant Li, Shen Shah, Julie A |
| author_sort | Unhelkar, Vaibhav Vasant |
| collection | MIT |
| description | © 2020 Association for Computing Machinery. Communication is critical to collaboration; however, too much of it can degrade performance. Motivated by the need for effective use of a robot's communication modalities, in this work, we present a computational framework that decides if, when, and what to communicate during human-robot collaboration. The framework, titled CommPlan, consists of a model specification process and an execution-time POMDP planner. To address the challenge of collecting interaction data, the model specification process is hybrid: Where part of the model is learned from data, while the remainder is manually specified. Given the model, the robot's decision-making is performed computationally during interaction and under partial observability of human's mental states. We implement CommPlan for a shared workspace task, in which the robot has multiple communication options and needs to reason within a short time. Through experiments with human participants, we confirm that CommPlan results in the effective use of communication capabilities and improves human-robot collaboration. |
| first_indexed | 2024-09-23T15:44:07Z |
| format | Article |
| id | mit-1721.1/137328 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T15:44:07Z |
| publishDate | 2021 |
| publisher | ACM |
| record_format | dspace |
| spelling | mit-1721.1/1373282022-10-02T03:44:12Z Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks Unhelkar, Vaibhav Vasant Li, Shen Shah, Julie A Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory © 2020 Association for Computing Machinery. Communication is critical to collaboration; however, too much of it can degrade performance. Motivated by the need for effective use of a robot's communication modalities, in this work, we present a computational framework that decides if, when, and what to communicate during human-robot collaboration. The framework, titled CommPlan, consists of a model specification process and an execution-time POMDP planner. To address the challenge of collecting interaction data, the model specification process is hybrid: Where part of the model is learned from data, while the remainder is manually specified. Given the model, the robot's decision-making is performed computationally during interaction and under partial observability of human's mental states. We implement CommPlan for a shared workspace task, in which the robot has multiple communication options and needs to reason within a short time. Through experiments with human participants, we confirm that CommPlan results in the effective use of communication capabilities and improves human-robot collaboration. 2021-11-04T13:56:18Z 2021-11-04T13:56:18Z 2020-03 2021-05-04T14:02:23Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137328 Unhelkar, Vaibhav Vasant, Li, Shen and Shah, Julie A. 2020. "Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks." ACM/IEEE International Conference on Human-Robot Interaction. en http://dx.doi.org/10.1145/3319502.3374779 ACM/IEEE International Conference on Human-Robot Interaction Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf ACM MIT web domain |
| spellingShingle | Unhelkar, Vaibhav Vasant Li, Shen Shah, Julie A Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks |
| title | Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks |
| title_full | Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks |
| title_fullStr | Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks |
| title_full_unstemmed | Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks |
| title_short | Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks |
| title_sort | decision making for bidirectional communication in sequential human robot collaborative tasks |
| url | https://hdl.handle.net/1721.1/137328 |
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