POMDP Model Learning for Human Robot Collaboration

Recent years have seen human robot collaboration (HRC) quickly emerged as a hot research area at the intersection of control, robotics, and psychology. While most of the existing work in HRC focused on either low-level human-aware motion planning or HRC interface design, we are particularly interested in a formal design of HRC with respect to high-level complex missions, where it is of critical importance to obtain an accurate and meanwhile tractable human model. Instead of assuming the human model is given, we ask whether it is reasonable to learn human models from observed perception data, such as the gesture, eye movements, head motions of the human in concern. As our initial step, we adopt a partially observable Markov decision process (POMDP) model in this work as mounting evidences have suggested Markovian properties of human behaviors from psychology studies. In addition, POMDP provides a general modeling framework for sequential decision making where states are hidden and actions have stochastic outcomes. Distinct from the majority of POMDP model learning literature, we do not assume that the state, the transition structure or the bound of the number of states in POMDP model is given. Instead, we use a Bayesian non-parametric learning approach to decide the potential human states from data. Then we adopt an approach inspired by probably approximately correct (PAC) learning to obtain not only an estimation of the transition probability but also a confidence interval associated to the estimation. Then, the performance of applying the control policy derived from the estimated model is guaranteed to be sufficiently close to the true model. Finally, data collected from a driver-assistance test-bed are used to train the model, which illustrates the effectiveness of the proposed learning method

A formal model of emotional-response, inspired from human cognition and emotion systems

In this paper, we used the formalisms of decision-making theory and theories in psychology, physiology and cognition to proposing a macro model of human emotional-response. We believe that using such formalism can fill the gap between psychology, cognitive science and AI, and can be useful in the design of human-like agents. This model can be used in a wide variety of applications such as artificial agents, user interface, and intelligent tutoring systems. Using the proposed model, we can provide for human behaviors like mood, personality and biological response in machines. This capability will enable such systems, to adapt their responses and behaviors. In situations where there are multiple ways for performing an action, this model can help with the decision making process

Aging, Equality, and Confucian Selves

Liberal democracy aims to treat all adult citizens as politically equal, at least in ideal cases: Once a citizen is over the age of majority, she is deemed a full-fledged member of the community and in theory has equal standing with all other adult citizens when it comes to making policy and participating in the political realm in general. I consider three questions: (1) Is there any plausible alternative to a standard "all adult citizens have equal political standing" model of democracy that could be drawn from a specifically Confucian valuing of elder members of the community? (2) Insofar as there is a plausible alternative, what might it reveal about differences between how liberalism and Confucianism think of human selves as located in time? (3) What sort of difference would it make if the Confucian valuing of age were implemented via informal social norms, on the one hand, or via explicit institutional mechanisms and procedures, on the other

Mental Capacity and Decisional Autonomy: An Interdisciplinary Challenge

With the waves of reform occurring in mental health legislation in England and other jurisdictions, mental capacity is set to become a key medico-legal concept. The concept is central to the law of informed consent and is closely aligned to the philosophical concept of autonomy. It is also closely related to mental disorder. This paper explores the interdisciplinary terrain where mental capacity is located. Our aim is to identify core dilemmas and to suggest pathways for future interdisciplinary research. The terrain can be separated into three types of discussion: philosophical, legal and psychiatric. Each discussion approaches mental capacity and judgmental autonomy from a different perspective yet each discussion struggles over two key dilemmas: whether mental capacity and autonomy is/should be a moral or a psychological notion and whether rationality is the key constitutive factor. We suggest that further theoretical work will have to be interdisciplinary and that this work offers an opportunity for the law to enrich its interpretation of mental capacity, for psychiatry to clarify the normative elements latent in its concepts and for philosophy to advance understanding of autonomy through the study of decisional dysfunction. The new pressures on medical and legal practice to be more explicit about mental capacity make this work a priority

Towards adaptive multi-robot systems: self-organization and self-adaptation

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

Herbert Simon's decision-making approach: Investigation of cognitive processes in experts

This is a post print version of the article. The official published can be obtained from the links below - PsycINFO Database Record (c) 2010 APA, all rights reserved.Herbert Simon's research endeavor aimed to understand the processes that participate in human decision making. However, despite his effort to investigate this question, his work did not have the impact in the “decision making” community that it had in other fields. His rejection of the assumption of perfect rationality, made in mainstream economics, led him to develop the concept of bounded rationality. Simon's approach also emphasized the limitations of the cognitive system, the change of processes due to expertise, and the direct empirical study of cognitive processes involved in decision making. In this article, we argue that his subsequent research program in problem solving and expertise offered critical tools for studying decision-making processes that took into account his original notion of bounded rationality. Unfortunately, these tools were ignored by the main research paradigms in decision making, such as Tversky and Kahneman's biased rationality approach (also known as the heuristics and biases approach) and the ecological approach advanced by Gigerenzer and others. We make a proposal of how to integrate Simon's approach with the main current approaches to decision making. We argue that this would lead to better models of decision making that are more generalizable, have higher ecological validity, include specification of cognitive processes, and provide a better understanding of the interaction between the characteristics of the cognitive system and the contingencies of the environment

Bounded Rationality and Heuristics in Humans and in Artificial Cognitive Systems

In this paper I will present an analysis of the impact that the notion of “bounded rationality”, introduced by Herbert Simon in his book “Administrative Behavior”, produced in the field of Artificial Intelligence (AI). In particular, by focusing on the field of Automated Decision Making (ADM), I will show how the introduction of the cognitive dimension into the study of choice of a rational (natural) agent, indirectly determined - in the AI field - the development of a line of research aiming at the realisation of artificial systems whose decisions are based on the adoption of powerful shortcut strategies (known as heuristics) based on “satisficing” - i.e. non optimal - solutions to problem solving. I will show how the “heuristic approach” to problem solving allowed, in AI, to face problems of combinatorial complexity in real-life situations and still represents an important strategy for the design and implementation of intelligent systems