相关论文: Inferring World Belief States in Dynamic Real-Worl…

We investigate the real-time estimation of human situation awareness using observations from a robot teammate with limited visibility. In human factors and human-autonomy teaming, it is recognized that individuals navigate their…

Humans with an average level of social cognition can infer the beliefs of others based solely on the nonverbal communication signals (e.g. gaze, gesture, pose and contextual information) exhibited during social interactions. This social…

In complex environments, where the human sensory system reaches its limits, our behaviour is strongly driven by our beliefs about the state of the world around us. Accessing others' beliefs, intentions, or mental states in general, could…

Reinforcement learning in partially observable environments is typically challenging, as it requires agents to learn an estimate of the underlying system state. These challenges are exacerbated in multi-agent settings, where agents learn…

In partially observed environments, it can be useful for a human to provide the robot with declarative information that represents probabilistic relational constraints on properties of objects in the world, augmenting the robot's sensory…

Theory of Mind (ToM), the ability to attribute beliefs, intentions, or mental states to others, is a crucial feature of human social interaction. In complex environments, where the human sensory system reaches its limits, behaviour is…

Recent advances in visual generative models have highlighted the promise of learning generative world models. However, most existing approaches frame world modeling as novel-view synthesis or future-frame prediction, emphasizing visual…

There is a clear desire to model and comprehend human behavior. Trends in research covering this topic show a clear assumption that many view human reasoning as the presupposed standard in artificial reasoning. As such, topics such as game…

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…

Complex behaviors are often driven by an internal model, which integrates sensory information over time and facilitates long-term planning. Inferring an agent's internal model is a crucial ingredient in social interactions (theory of mind),…

World models aim to improve robotic decision making by predicting the consequences of actions. However, in practice, their predictions often become unreliable once the robot encounters states outside the training distribution, limiting…

We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…

Humans possess a unique social cognition capability; nonverbal communication can convey rich social information among agents. In contrast, such crucial social characteristics are mostly missing in the existing scene understanding…

Agents interacting with an incompletely known world need to be able to reason about the effects of their actions, and to gain further information about that world they need to use sensors of some sort. Unfortunately, both the effects of…

A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…

World models have garnered substantial interest in the AI community. These are internal representations that simulate aspects of the external world, track entities and states, capture causal relationships, and enable prediction of…

An outstanding challenge with safety methods for human-robot interaction is reducing their conservatism while maintaining robustness to variations in human behavior. In this work, we propose that robots use confidence-aware game-theoretic…

We develop a probabilistic graphical model (PGM) for artificially intelligent (AI) agents to infer human beliefs during a simulated urban search and rescue (USAR) scenario executed in a Minecraft environment with a team of three players.…

Probabilistic mental simulation is thought to play a key role in human reasoning, planning, and prediction, yet the demands of simulation in complex environments exceed realistic human capacity limits. A theory with growing evidence is that…

Theory of Mind (ToM) is a fundamental cognitive architecture that endows humans with the ability to attribute mental states to others. Humans infer the desires, beliefs, and intentions of others by observing their behavior and, in turn,…