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Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks

Authors:

Vaibhav V. Unhelkar,

Julie A. ShahAuthors Info & Claims

HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

Pages 329 - 341

https://doi.org/10.1145/3319502.3374779

Published: 09 March 2020 Publication History

Abstract

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.

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The supplemental material provides a video demonstration of CommPlan, our framework for generating a collaborative robot's action and communication policy, in the meal preparation task.

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Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks

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cover image ACM Conferences

HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

March 2020

690 pages

ISBN:9781450367462

DOI:10.1145/3319502

General Chairs:
Tony Belpaeme
Ghent University, Belgium
,
James Young
University of Manitoba, Canada
,
Program Chairs:
Hatice Gunes
University of Cambridge, UK
,
Laurel Riek
UC San Diego, USA

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Published: 09 March 2020

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HRI '20: ACM/IEEE International Conference on Human-Robot Interaction

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