Anytime Game-Theoretic Planning with Active Reasoning About Humans’ Latent States for Human-Centered Robots
Ran Tian Liting Sun Masayoshi Tomizuka David Isele Ran Tian Liting Sun Masayoshi Tomizuka David Isele
A human-centered robot needs to reason about the cognitive limitation and potential irrationality of its human partner to achieve seamless interactions. This paper proposes an anytime game-theoretic planner that integrates iterative reasoning models, a partially observable Markov decision process, and chance-constrained Monte-Carlo belief tree search for robot behavioral planning. Our planner enab...