Mobile, dexterous, social robots for mobile manipulation and human-robot interaction
ACM SIGGRAPH 2008 new tech demos
An Embodied Cognition Approach to Mindreading Skills for Socially Intelligent Robots
International Journal of Robotics Research
The dynamics of intention in collaborative activity
Cognitive Systems Research
Evaluating the robustness of activity recognition using computational causal behavior models
Proceedings of the 2012 ACM Conference on Ubiquitous Computing
Identifying people with soft-biometrics at fleet week
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
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The variability of human behavior during plan execution poses a difficult challenge for human-robot teams. In this paper, we use the concepts of theory of mind to enable robots to account for two sources of human variability during team operation. When faced with an unexpected action by a human teammate, a robot uses a simulation analysis of different hypothetical cognitive models of the human to identify the most likely cause for the human's behavior. This allows the cognitive robot to account for variances due to both different knowledge and beliefs about the world, as well as different possible paths the human could take with a given set of knowledge and beliefs. An experiment showed that cognitive robots equipped with this functionality are viewed as both more natural and intelligent teammates, compared to both robots who either say nothing when presented with human variability, and robots who simply point out any discrepancies between the human's expected, and actual, behavior. Overall, this analysis leads to an effective, general approach for determining what thought process is leading to a human's actions.