Decision Theoretic Approaches to Human-Robot Social Interaction

题目：人机社会互动的决策理论方法[j]: Nourbakhsh， Illah rez卡内基梅隆大学。社会规则控制运动模式，允许个人共享空间而不干扰彼此的目标。这些社会运动规则丰富而复杂，高度依赖于环境，并控制着空间和时间关系。这个项目的核心研究问题是：机器人能否利用基于人类行为的线索来决定何时以及如何应用正确的社交规则？这个问题有两个主要组成部分：如何获取或设计这些规则和线索的表示，以及如何在机器人的决策过程中使用这些信息。我们将此视为一个计划问题，因为社交互动需要一系列的行动，而不是一次性的被动选择。我们打算将现有的决策理论规划方法扩展到半马尔可夫模型，它可以表示比一阶马尔可夫模型更复杂的时间和状态之间的关系。该项目对人工智能和机器人的研究领域以及许多现代应用都有潜在的影响。这可能会使机器人更有可能被部署在它们作为具体信息提供者的能力最有用的环境中（博物馆导游、接待员、老年人的助手等）。该项目还促进妇女和少数民族等代表性不足群体的教育。

Robotics and Computer Vision ProgramABSTRACTProposal #: 0329014Title: Decision Theoretic Approaches to Human-Robot Social InteractionPI: Nourbakhsh, Illah RezaCarnegie Mellon UniversitySocial rules govern patterns of movement and allow individuals to share a space without interfering with each other's goals. These social rules of movement are rich and complicated, being highly dependent on context and governing both spatial and temporal relationships. The research question at the heart of this project is: can robots utilize cues based on human behavior in deciding when and how to apply the correct rules for social interaction? There are two main components to this question: how to acquire or design the representations of these rules and cues, and how to use this information in a robot's decision-making process. We approach this as a planning problem because a social interaction requires a sequence of actions rather than a one-time, reactive choice. We intend to extend existing decision-theoretic planning methods to semi-Markov models, which can represent more complex relationships between time and state than first order Markov models.This project has potential impact in the research fields of Artificial Intelligence and Robotics as well as impact on numerous modern applications. It can result in making robots more likely to be deployed in environments where their capacity to be embodied information providers is most useful (museum guides, receptionists, helpmates for the elderly, etc.). This project is also promoting education for underrepresented groups like women and minorities.