Generating Pattern-Based Conventions for Predictable Planning in Human-Robot Collaboration

Abstract

For humans to effectively work with robots, they must be able to predict the actions and behaviors of their robot teammates rather than merely react to them. While there are existing techniques enabling robots to adapt to human behavior, there is a demonstrated need for methods that explicitly improve humans’ ability to understand and predict robot behavior at multi-task timescales. In this work, we propose a method leveraging the innate human propensity for pattern recognition in order to improve team dynamics in human-robot teams and to make robots more predictable to the humans that work with them. Patterns are a cognitive tool that humans use and rely on often, and the human brain is in many ways primed for pattern recognition and usage. We propose Pattern-Aware Convention-setting for Teaming (PACT), an entropy-based algorithm that identifies and imposes appropriate patterns over a robot’s planner or policy over long time horizons. These patterns are autonomously generated and chosen via an algorithmic process that considers human-perceptible features and characteristics derived from the tasks to be completed, and as such, produces behavior that is easier for humans to identify and predict. Our evaluation shows that PACT contributes to significant improvements in team dynamics and teammate perceptions of the robot, as compared to robots that utilize traditionally ‘optimal’ plans and robots utilizing unoptimized patterns.