Carnegie Mellon University
The
Human-Robot Mutual Adaptation in Shared Autonomy

Stefanos Nikolaidis, Yu Xiang Zhu , David Hsu, and Siddhartha Srinivasa
Human-Robot Interaction, March, 2017.


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Abstract
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an effective strategy, sometimes against the human's own preference, while still retaining his trust. We achieve this through a principled human-robot mutual adaptation formalism. We integrate a bounded-memory adaptation model of the human into a partially observable stochastic decision model, which enables the robot to adapt to an adaptable human. When the human is adaptable, the robot guides the human towards a good strategy, maybe unknown to the human in advance. When the human is stubborn and not adaptable, the robot complies with the human's preference in order to retain their trust. In the shared autonomy setting, unlike many other common human-robot collaboration settings, only the robot actions can change the physical state of the world, and the human and robot goals are not fully observable. We address these challenges and show in a human subject experiment that the proposed mutual adaptation formalism improves human-robot team performance, while retaining a high level of user trust in the robot, compared to the common approach of having the robot strictly following participants' preference.

Keywords
Shared-autonomy, human-robot mutual adaptation

Notes
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics

Text Reference
Stefanos Nikolaidis, Yu Xiang Zhu , David Hsu, and Siddhartha Srinivasa, "Human-Robot Mutual Adaptation in Shared Autonomy," Human-Robot Interaction, March, 2017.

BibTeX Reference
@inproceedings{Nikolaidis_2017_8288,
   author = "Stefanos Nikolaidis and Yu Xiang {Zhu } and David Hsu and Siddhartha Srinivasa",
   title = "Human-Robot Mutual Adaptation in Shared Autonomy",
   booktitle = "Human-Robot Interaction",
   month = "March",
   year = "2017",
}