Related papers: Mitigating undesirable emergent behavior arising b…
In the car-following scenarios, automated vehicles (AVs) usually plan motions without considering the impacts of their actions on the following human drivers. This paper aims to leverage such impacts to plan more efficient and socially…
Understanding the emergence of cooperation in systems of computational agents is crucial for the development of effective cooperative AI. Interaction among individuals in real-world settings are often sparse and occur within a broad…
Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
In human-robot teams, humans often start with an inaccurate model of the robot capabilities. As they interact with the robot, they infer the robot's capabilities and partially adapt to the robot, i.e., they might change their actions based…
Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…
Reward function, as an incentive representation that recognizes humans' agency and rationalizes humans' actions, is particularly appealing for modeling human behavior in human-robot interaction. Inverse Reinforcement Learning is an…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
Recent developments in multi-agent imitation learning have shown promising results for modeling the behavior of human drivers. However, it is challenging to capture emergent traffic behaviors that are observed in real-world datasets. Such…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
Safety concerns have risen as robots become more integrated into our daily lives and continue to interact closely with humans. One of the most crucial safety priorities is preventing collisions between robots and people walking nearby.…
When robots interact with humans in homes, roads, or factories the human's behavior often changes in response to the robot. Non-stationary humans are challenging for robot learners: actions the robot has learned to coordinate with the…
Humans make decisions and act alongside other humans to pursue both short-term and long-term goals. As a result of ongoing progress in areas such as computing science and automation, humans now also interact with non-human agents of varying…
When researching robot swarms, many studies observe complex group behavior emerging from the individual agents' simple local actions. However, the task of learning an individual policy to produce a desired group behavior remains a…
A driving algorithm that aligns with good human driving practices, or at the very least collaborates effectively with human drivers, is crucial for developing safe and efficient autonomous vehicles. In practice, two main approaches are…
The capabilities of automated vehicles are advancing rapidly, yet achieving full autonomy remains a significant challenge, requiring ongoing human cognition in decision-making processes. Incorporating human cognition into control algorithms…
Robot actions influence the decisions of nearby humans. Here influence refers to intentional change: robots influence humans when they shift the human's behavior in a way that helps the robot complete its task. Imagine an autonomous car…
There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference…
A challenge in using robots in human-inhabited environments is to design behavior that is engaging, yet robust to the perturbations induced by human interaction. Our idea is to imbue the robot with intrinsic motivation (IM) so that it can…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…