Trust-Aware Decision Making for Human-Robot Collaboration: Model Learning and Planning
National University of Singapore（新加坡国立大学）；University of Southern California（南加州大学）；University of Washington（华盛顿大学）
Min Chen, Stefanos Nikolaidis, Harold Soh, David Hsu, Siddhartha Srinivasa
备注：
Chen and Nikolaidis contributed equally to the work. Appeared In Proceedings of 2018 ACM/IEEE International Conference on Human-Robot Interaction, Chicago, IL, USA, (HRI 2018)
Trust in autonomy is essential for effective human-robot collaboration and user adoption of autonomous systems such as robot assistants. This paper introduces a computational model which integrates trust into robot decision-making. Specifically, we learn from data a partially observable Markov decision process (POMDP) with human trust as a latent variable. The trust-POMDP model provides a principled approach for the robot to (i) infer the trust of a human teammate through interaction, (ii) reason about the effect of its own actions on human trust, and (iii) choose actions that maximize team performance over the long term. We validated the model through human subject experiments on a table-clearing task in simulation (201 participants) and with a real robot (20 participants). In our studies, the robot builds human trust by manipulating low-risk objects first. Interestingly, the robot sometimes fails intentionally in order to modulate human trust and achieve the best team performance. These results show that the trust-POMDP calibrates trust to improve human-robot team performance over the long term. Further, they highlight that maximizing trust alone does not always lead to the best performance.
Toward Mutual Trust Modeling in Human-Robot Collaboration
Simulation science center Clausthal-Göttingen, TU Clausthal（克劳斯塔尔-哥廷根仿真科学中心，克劳斯塔尔工业大学）；Institute for software and system engineering, TU Clausthal（克劳斯塔尔工业大学软件与系统工程研究所）；Department of informatics, TU Clausthal（克劳斯塔尔工业大学信息学系）
Estimating Trust in Human-Robot Collaboration through Behavioral Indicators and Explainability
Human-Robot Interaction Lab., Technical Faculty of IT and Design, Aalborg University, Denmark（人机交互实验室，信息技术与设计技术学院，阿alborg大学，丹麦）；Human-Robot Interfaces and Interaction Lab., Istituto Italiano di Tecnologia (IIT), Italy（人机界面与交互实验室，意大利理工学院（IIT））；Smart Production Lab., Faculty of Engineering and Natural Sciences, Aalborg University, Denmark（智能生产实验室，工程与自然科学学院，阿alborg大学，丹麦）
Anticipate & Collab: Data-driven Task Anticipation and Knowledge-driven Planning for Human-robot Collaboration
Robotics Research Center, IIIT Hyderabad（IIIT海得拉巴机器人研究中心）；TCS Research, Tata Consultancy Services（塔塔咨询服务公司TCS研究院）；School of Informatics, University of Edinburgh（爱丁堡大学信息学院）
Improving Trust Estimation in Human-Robot Collaboration Using Beta Reputation at Fine-grained Timescales
Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney（技术科技大学机器人研究所，工程与信息科技学院）；Psychology Discipline, Graduate School of Health, Faculty of Health, University of Technology Sydney（技术科技大学健康研究生学院，健康学院）；Australian Artificial Intelligence Institute, School of Computer Science, Faculty of Engineering and Information Technology, University of Technology Sydney（澳大利亚人工智能研究所，计算机科学学院，工程与信息科技学院，技术科技大学）
Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction
Department of Civil, Environmental, and Geospatial Engineering, Michigan Technological University（土木、环境与地理空间工程系，密歇根技术大学）
Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field
Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong（机械与自动化工程系，T-Stone机器人研究所，香港中文大学）；Idiap Research Institute（Idiap研究所）；Department of Advanced Robotics, Istituto Italiano di Tecnologia（先进机器人系，意大利Istituto Italiano di Tecnologia）
Semantic Chain-of-Trust: Autonomous Trust Orchestration for Collaborator Selection via Hypergraph-Aided Agentic AI
Department of Electrical and Computer Engineering, Western University（电气与计算机工程系，西部大学）；College of Computing and Data Science, Nanyang Technological University（计算与数据科学学院，南洋理工大学）
STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
Department of Cybernetics, Czech Technical University in Prague（捷克技术大学布拉格分校控制学系）；Department of Power Generation Technologies and Materials, Ricerca sul Sistema Energetico S.p.A.（能源系统研究股份有限公司电力生成技术与材料学系）；Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science Faculty, University of Twente（代尔夫特理工大学机器人与机电学系，电气工程、数学与计算机科学学院）；Department of Computer, Control and Management Engineering, Sapienza University of Rome（罗马萨皮恩扎大学计算机、控制与管理工程系）
Adaptive Motion Planning via Contact-Based Intent Inference for Human-Robot Collaboration
Department of Mechanical Engineering, Texas A&M University（机械工程系，德克萨斯A&M大学）；Department of Civil and Environmental Engineering, Texas A&M University（土木与环境工程系，德克萨斯A&M大学）
Skillsets on the Chain: A Blockchain-based Zero-Trust Framework for Agentic AI Networking
School of Electronic Information and Communications, the Huazhong University of Science and Technology（华中科技大学电子信息与通信学院）；Peng Cheng Laboratory（鹏城实验室）；Pazhou Laboratory (Huangpu)（琶洲实验室（黄埔））；School of Mechanical Engineering and Electronic Information, China University of Geosciences (Wuhan)（中国地质大学（武汉）机械工程与电子信息学院）；School of Artificial Intelligence, Xidian University（西安电子科技大学人工智能学院）
