Robot Planning with Mathematical Models of Human State and Action

TL;DR

This paper discusses integrating computational cognitive models into robot planning to improve human-robot interaction, using game theory to analyze various approximation methods for coordination.

Contribution

It introduces a framework for incorporating models of human cognition into robotic planning, emphasizing the role of game theory in understanding interaction dynamics.

Findings

Different approximations lead to varied coordination behaviors.

Game-theoretic formulation helps analyze interaction strategies.

Insights guide development of more effective human-aware robot planning.

Abstract

Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational cognitive models of people into robotics planning and control. It starts from a general game-theoretic formulation of interaction, and analyzes how different approximations result in different useful coordination behaviors for the robot during its interaction with people.