Adaptive Agent Architecture for Real-time Human-Agent Teaming

Teamwork is a set of interrelated reasoning, actions and behaviors of team members that facilitate common objectives. Teamwork theory and experiments have resulted in a set of states and processes for team effectiveness in both human-human and agent-agent teams. However, human-agent teaming is less well studied because it is so new and involves asymmetry in policy and intent not present in human teams. To optimize team performance in human-agent teaming, it is critical that agents infer human intent and adapt their polices for smooth coordination. Most literature in human-agent teaming builds agents referencing a learned human model. Though these agents are guaranteed to perform well with the learned model, they lay heavy assumptions on human policy such as optimality and consistency, which is unlikely in many real-world scenarios. In this paper, we propose a novel adaptive agent architecture in human-model-free setting on a two-player cooperative game, namely Team Space Fortress (TSF). Previous human-human team research have shown complementary policies in TSF game and diversity in human players' skill, which encourages us to relax the assumptions on human policy. Therefore, we discard learning human models from human data, and instead use an adaptation strategy on a pre-trained library of exemplar policies composed of RL algorithms or rule-based methods with minimal assumptions of human behavior. The adaptation strategy relies on a novel similarity metric to infer human policy and then selects the most complementary policy in our library to maximize the team performance. The adaptive agent architecture can be deployed in real-time and generalize to any off-the-shelf static agents. We conducted human-agent experiments to evaluate the proposed adaptive agent framework, and demonstrated the suboptimality, diversity, and adaptability of human policies in human-agent teams.Comment: The first three authors contributed equally. In AAAI 2021 Workshop on Plan, Activity, and Intent Recognitio

Mixed-Initiative Human-Automated Agents Teaming: Towards a Flexible Cooperation Framework

The recent progress in robotics and artificial intelligence raises the question of the efficient artificial agents interaction with humans. For instance, artificial intelligence has achieved technical advances in perception and decision making in several domains ranging from games to a variety of operational situations, (e.g. face recognition [51] and firefighting missions [23]). Such advanced automated systems still depend on human operators as far as complex tactical, legal or ethical decisions are concerned. Usually the human is considered as an ideal agent, that is able to take control in case of automated (artificial) agent's limit range of action or even failure (e.g embedded sensor failures or low confidence in identification tasks). However, this approach needs to be revised as revealed by several critical industrial events (e.g. aviation and nuclear power-plant) that were due to conflicts between humans and complex automated system [13]. In this context, this paper reviews some of our previous works related to human-automated agents interaction driving systems. More specifically, a mixed-initiative cooperation framework that considers agents' non-deterministic actions effects and inaccuracies about the human operator state estimation. This framework has demonstrated convincing results being a promising venue for enhancing human-automated agent(s) teaming

Towards Mixed-Initiative Human–Robot Interaction: Assessment of Discriminative Physiological and Behavioral Features for Performance Prediction

The design of human–robot interactions is a key challenge to optimize operational performance. A promising approach is to consider mixed-initiative interactions in which the tasks and authority of each human and artificial agents are dynamically defined according to their current abilities. An important issue for the implementation of mixed-initiative systems is to monitor human performance to dynamically drive task allocation between human and artificial agents (i.e., robots). We, therefore, designed an experimental scenario involving missions whereby participants had to cooperate with a robot to fight fires while facing hazards. Two levels of robot automation (manual vs. autonomous) were randomly manipulated to assess their impact on the participants’ performance across missions. Cardiac activity, eye-tracking, and participants’ actions on the user interface were collected. The participants performed differently to an extent that we could identify high and low score mission groups that also exhibited different behavioral, cardiac and ocular patterns. More specifically, our findings indicated that the higher level of automation could be beneficial to low-scoring participants but detrimental to high-scoring ones, and vice versa. In addition, inter-subject single-trial classification results showed that the studied behavioral and physiological features were relevant to predict mission performance. The highest average balanced accuracy (74%) was reached using the features extracted from all input devices. These results suggest that an adaptive HRI driving system, that would aim at maximizing performance, would be capable of analyzing such physiological and behavior markers online to further change the level of automation when it is relevant for the mission purpose

Deep Learning, transparency and trust in Human Robot Teamwork

For Autonomous AI systems to be accepted and trusted, the users should be able to understand the reasoning process of the system (i.e., the system should be transparent). Robotics presents unique programming difficulties in that systems need to map from complicated sensor inputs such as camera feeds and laser scans to outputs such as joint angles and velocities. Advances in Deep Neural Networks are now making it possible to replace laborious handcrafted features and control code by learning control policies directly from high dimensional sensor inputs. Because Atari games, where these capabilities were first demonstrated, replicate the robotics problem they are ideal for investigating how humans might come to understand and interact with agents who have not been explicitly programmed. We present computational and human results for making DRLN more transparent using object saliency visualizations of internal states and test the effectiveness of expressing saliency through teleological verbal explanations

Cooperation for Scalable Supervision of Autonomy in Mixed Traffic

Improvements in autonomy offer the potential for positive outcomes in a number of domains, yet guaranteeing their safe deployment is difficult. This work investigates how humans can intelligently supervise agents to achieve some level of safety even when performance guarantees are elusive. The motivating research question is: In safety-critical settings, can we avoid the need to have one human supervise one machine at all times? The paper formalizes this 'scaling supervision' problem, and investigates its application to the safety-critical context of autonomous vehicles (AVs) merging into traffic. It proposes a conservative, reachability-based method to reduce the burden on the AVs' human supervisors, which allows for the establishment of high-confidence upper bounds on the supervision requirements in this setting. Order statistics and traffic simulations with deep reinforcement learning show analytically and numerically that teaming of AVs enables supervision time sublinear in AV adoption. A key takeaway is that, despite present imperfections of AVs, supervision becomes more tractable as AVs are deployed en masse. While this work focuses on AVs, the scalable supervision framework is relevant to a broader array of autonomous control challenges.Comment: 14 pages, 7 figure