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Conference Papers Year : 2015

Facilitating Intention Prediction for Humans by Optimizing Robot Motions

Jonathan Grizou
  • Function : Author
  • PersonId : 933478
Baptiste Busch
Manuel Lopes

Abstract

Members of a team are able to coordinate their actions by anticipating the intentions of others. Achieving such implicit coordination between humans and robots requires humans to be able to quickly and robustly predict the robot's intentions, i.e. the robot should demonstrate a behavior that is legible. Whereas previous work has sought to explicitly optimize the legibility of behavior, we investigate legibility as a property that arises automatically from general requirements on the efficiency and robustness of joint human-robot task completion. We do so by optimizing fast and successful completion of joint human-robot tasks through policy improvement with stochastic optimization. Two experiments with human subjects show that robots are able to adapt their behavior so that humans become better at predicting the robot's intentions early on, which leads to faster and more robust overall task completion.
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Dates and versions

hal-01170977 , version 1 (05-01-2016)

Identifiers

  • HAL Id : hal-01170977 , version 1

Cite

Freek Stulp, Jonathan Grizou, Baptiste Busch, Manuel Lopes. Facilitating Intention Prediction for Humans by Optimizing Robot Motions. International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. ⟨hal-01170977⟩
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