Game Theoretic Approaches to Advancing Physical Human-Robot Collaborations through Nudging

人类在日常生活中完成了许多需要与他人合作的任务。在这些场景中，两个人一起工作，预测对方的行为，并引导他们的伴侣朝着共同的目标前进。例如，两个人可以毫不费力地移动和翻转仓库中的大箱子。同样，一个人可以把酒倒进另一个人举起的杯子里，而不会洒出来。该项目的主要重点是了解隐含沟通在二元协作场景中的影响。该项目的目标是开发一个能够利用意图估计、博弈论和轻推技术的机器人系统，以提高物理人类机器人协作的技术水平。我们认为，一个成功的结果是促进机器人合作伙伴在工业部门更广泛地使用，在酒店部门和我们的家中。这个项目中的工作集中在系统的以下具体方面。(I)开发一个推理模块，它可以根据人类运动的历史来预测人类的意图和行动。(Ii)评估感官前馈线索，使协作更直观，并消除代理人的行动的歧义(Iii)利用轻推理论来影响人类的行为，以消除人类意图的歧义。(Iv)开发一个基于‘心智理论’的规划器，它应用博弈论来做出决策，并促进在协作中进行有效的交互。(V)利用上面的框架演示在现有硬件上的人-机器人协作操作

Humans perform numerous tasks in their daily life that require collaboration with others. In these scenarios the two humans work together, anticipate how the other will behave and guide their partner towards the joint goal. For instance, two humans can effortlessly move and flip large boxes in a warehouse. Likewise, a human can pour wine into a glass held out by another human, without spilling.The main focus of the project is to understand the effects of implicit communication in dyadic collaborative scenarios. The goal of the project is to develop a robotic system capable of exploiting intention estimation, game theoretic and nudging techniques to improve the state of the art in physical human robot collaboration. We believe that a successful outcome is an enabler for the broader use of robot partners in the industrial sector, in the hospitality sector as well as in our homes.The work within this project with focus on the following specific aspects of the system.(i) Development of an inference module that can predict the human's intentions and action based on the history of the human's motion.(ii) Evaluate sensory feedforward cues that can make collaboration more intuitive and disambiguate agent's actions(iii) Utilise nudge theory to influence the human's behaviour to ease the disambiguation of human intentions.(iv) Develop a planner based on the 'theory of mind' that applies game theory to make decisions and facilitates 'role taking' for effective interactions in collaboration.(v) Exploit the framework above to demonstrate human-robot co-manipulation on existing hardware