Joint Mind Modeling for Explanation Generation in Complex Human-Robot Collaborative Tasks
| Autor: | Yizhou Zhao, Shu Wang, Xiaofeng Gao, Song-Chun Zhu, Ran Gong, Tianmin Shu |
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| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
Computer science Computer Science - Artificial Intelligence Computer Science - Human-Computer Interaction 02 engineering and technology 010501 environmental sciences 01 natural sciences Human–robot interaction Code (semiotics) Task (project management) Human-Computer Interaction (cs.HC) Computer Science - Robotics Artificial Intelligence (cs.AI) Human–computer interaction Mental state 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Joint (building) Robotics (cs.RO) 0105 earth and related environmental sciences |
| Zdroj: | RO-MAN |
| Popis: | Human collaborators can effectively communicate with their partners to finish a common task by inferring each other's mental states (e.g., goals, beliefs, and desires). Such mind-aware communication minimizes the discrepancy among collaborators' mental states, and is crucial to the success in human ad-hoc teaming. We believe that robots collaborating with human users should demonstrate similar pedagogic behavior. Thus, in this paper, we propose a novel explainable AI (XAI) framework for achieving human-like communication in human-robot collaborations, where the robot builds a hierarchical mind model of the human user and generates explanations of its own mind as a form of communications based on its online Bayesian inference of the user's mental state. To evaluate our framework, we conduct a user study on a real-time human-robot cooking task. Experimental results show that the generated explanations of our approach significantly improves the collaboration performance and user perception of the robot. Code and video demos are available on our project website: https://xfgao.github.io/xCookingWeb/. IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), 8 pages, 9 figures |
| Databáze: | OpenAIRE |
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