Can Görür, OSivrikaya, FRosman, Benjamin SAlbayrak, S2018-06-152018-06-152018-03Can Görür, O. et al. 2018. Social cobots: Anticipatory decision-making for collaborative robots incorporating unexpected human behaviors. HRI ’18: Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, 5 - 8 March 2018, Chicago, IL, USA978-1-4503-4953-6https://doi.org/10.1145/3171221.3171256https://dl.acm.org/authorize.cfm?key=N43985http://humanrobotinteraction.org/2018/proceedings/https://dl.acm.org/citation.cfm?id=3171256http://hdl.handle.net/10204/10264Copyright: 2018 ACM. Due to copyright restrictions, the attached PDF file only contains the abstract of the full text item. For access to the full text item, please consult the publisher's website.We propose an architecture as a robot’s decision-making mechanism to anticipate a human’s state of mind, and so plan accordingly during a human-robot collaboration task. At the core of the architecture lies a novel stochastic decision-making mechanism that implements a partially observable Markov decision process anticipating a human’s state of mind in two-stages. In the first stage it anticipates the human’s task related availability, intent (motivation), and capability during the collaboration. In the second, it further reasons about these states to anticipate the human’s true need for help. Our contribution lies in the ability of our model to handle these unexpected conditions: 1) when the human’s intention is estimated to be irrelevant to the assigned task and may be unknown to the robot, e.g., motivation is lost, another assignment is received, onset of tiredness, and 2) when the human’s intention is relevant but the human doesn’t want the robot’s assistance in the given context, e.g., because of the human’s changing emotional states or the human’s task-relevant distrust for the robot. Our results show that integrating this model into a robot’s decision-making process increases the efficiency and naturalness of the collaboration.enHuman-Robot CollaborationAnticipatory Decision-MakingIntent InferenceConference PresentationCan Görür, O., Sivrikaya, F., Rosman, B. S., & Albayrak, S. (2018). Social cobots: Anticipatory decision-making for collaborative robots incorporating unexpected human behaviors. ACM. http://hdl.handle.net/10204/10264Can Görür, O, F Sivrikaya, Benjamin S Rosman, and S Albayrak. "Social cobots: Anticipatory decision-making for collaborative robots incorporating unexpected human behaviors." (2018): http://hdl.handle.net/10204/10264Can Görür O, Sivrikaya F, Rosman BS, Albayrak S, Social cobots: Anticipatory decision-making for collaborative robots incorporating unexpected human behaviors; ACM; 2018. http://hdl.handle.net/10204/10264 .TY - Conference Presentation AU - Can Görür, O AU - Sivrikaya, F AU - Rosman, Benjamin S AU - Albayrak, S AB - We propose an architecture as a robot’s decision-making mechanism to anticipate a human’s state of mind, and so plan accordingly during a human-robot collaboration task. At the core of the architecture lies a novel stochastic decision-making mechanism that implements a partially observable Markov decision process anticipating a human’s state of mind in two-stages. In the first stage it anticipates the human’s task related availability, intent (motivation), and capability during the collaboration. In the second, it further reasons about these states to anticipate the human’s true need for help. Our contribution lies in the ability of our model to handle these unexpected conditions: 1) when the human’s intention is estimated to be irrelevant to the assigned task and may be unknown to the robot, e.g., motivation is lost, another assignment is received, onset of tiredness, and 2) when the human’s intention is relevant but the human doesn’t want the robot’s assistance in the given context, e.g., because of the human’s changing emotional states or the human’s task-relevant distrust for the robot. Our results show that integrating this model into a robot’s decision-making process increases the efficiency and naturalness of the collaboration. DA - 2018-03 DB - ResearchSpace DP - CSIR KW - Human-Robot Collaboration KW - Anticipatory Decision-Making KW - Intent Inference LK - https://researchspace.csir.co.za PY - 2018 SM - 978-1-4503-4953-6 T1 - Social cobots: Anticipatory decision-making for collaborative robots incorporating unexpected human behaviors TI - Social cobots: Anticipatory decision-making for collaborative robots incorporating unexpected human behaviors UR - http://hdl.handle.net/10204/10264 ER -