发表机构
Honda Research Institute USA; Johns Hopkins University（本田美国研究院; 约翰斯·霍普金斯大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出观察、推断、协调方法，通过观察联合行为推断机器人伙伴的物理约束，显著提升零样本协调性能，接近真实约束预言机。
AI 中文摘要
在物理世界中运行的机器人将越来越需要与其他机器人协调，特别是在操纵任务中，当物体对于单个机器人来说太大或太重而无法单独携带时。由硬件退化或执行器故障引起的物理限制会限制机器人能够可靠执行的动作，但这些限制可能不为伙伴所知。我们研究助手能否通过观察机器人伙伴与另一个机器人协调来推断其物理约束，然后利用推断出的能力与同一伙伴在新任务上进行协调。这很困难，因为演示显示了受约束的机器人做了什么，但未显示它本可以做什么。在物理耦合任务中，另一个机器人也可能补偿其限制，使得仅从受约束机器人的行为中难以识别这些限制。我们的关键见解是，这些约束塑造了团队的联合行为，使得两个机器人的动作都能提供关于受约束伙伴能力的信息。我们引入了观察、推断、协调（Watch, Infer, Coordinate）基准，涵盖三个物理耦合操纵设置，以及一种使用观察到的联合行为对候选约束进行评分的推断方法。在所有三个设置中，我们的方法显著提高了约束推断和零样本协调性能，接近拥有真实约束信息的预言机。
英文摘要
Robots operating in the physical world will increasingly need to coordinate with other robots, particularly in manipulation tasks where an object may be too large or heavy for a single robot to carry alone. Physical limitations caused by hardware degradation or actuator faults can restrict the actions a robot can reliably execute, yet these limitations may be unknown to its partner. We study whether a helper can infer a robot partner's physical constraints from observing it coordinate with another robot, then use the inferred capability to coordinate with the same partner on a new task. This is difficult because a demonstration shows what the constrained robot did, but not what it could have done. In physically coupled tasks, the other robot may also compensate for its limitations, making those limitations difficult to identify from the constrained robot's behavior alone. Our key insight is that these constraints shape the joint behavior of the team, making the actions of both robots informative about the constrained partner's capability. We introduce Watch, Infer, Coordinate, a benchmark spanning three physically coupled manipulation settings, together with an inference approach that scores candidate constraints using observed joint behavior. Across all three settings, our method substantially improves constraint inference and zero-shot coordination, approaching an oracle with access to the true constraints.
