Inferring intent from observed behavior has been studied extensively within the frameworks of Bayesian inverse planning and inverse reinforcement learning. These methods infer a goal or reward function that best explains the actions of the observed agent, typically a human demonstrator. Another agent can use this inferred intent to predict, imitate, or assist the human user. However, a central assumption in inverse reinforcement learning is that the demonstrator is close to optimal. While models of suboptimal behavior exist, they typically assume that suboptimal actions are the result of some type of random noise or a known cognitive bias, like temporal inconsistency. In this paper, we take an alternative approach, and model suboptimal behavior as the result of internal model misspecification: the reason that user actions might deviate from near-optimal actions is that the user has an incorrect set of beliefs about the rules -- the dynamics -- governing how actions affect the environment. Our insight is that while demonstrated actions may be suboptimal in the real world, they may actually be near-optimal with respect to the user's internal model of the dynamics. By estimating these internal beliefs from observed behavior, we arrive at a new method for inferring intent. We demonstrate in simulation and in a user study with 12 participants that this approach enables us to more accurately model human intent, and can be used in a variety of applications, including offering assistance in a shared autonomy framework and inferring human preferences.
@cite_28: When making dynamical judgments, people can make effective use of only one salient dimension of information present in the event. People do not make dynamical judgments by deriving multidimensional quantities. The adequacy of dynamical judgments, therefore, depends on the degree of dimensionality that is both inherent in the physics of the event and presumed to be present by the observer. There are two classes of physical motion contexts in which objects may appear. In the simplest class, there exists only one dynamically relevant object parameter: the position over time of the object's center of mass. In the other class of motion contexts, there are additional object attributes, such as mass distribution and orientation, that are of dynamical relevance. In the former class, objects may be formally treated as extensionless point particles, whereas in the latter class some aspect of the object's extension in space is coupled into its motion. A survey of commonsense understandings showed that people are relatively accurate when specific dynamical judgments can be accurately based on a single information dimension; however, erroneous judgments are pervasive when simple motion contexts are misconstrued as being multidimensional, and when multidimensional quantities are the necessary basis for accurate judgments. Language: en
@cite_48: Marr’s levels of analysis—computational, algorithmic, and implementation—have served cognitive science well over the last 30 years. But the recent increase in the popularity of the computational level raises a new challenge: How do we begin to relate models at different levels of analysis? We propose that it is possible to define levels of analysis that lie between the computational and the algorithmic, providing a way to build a bridge between computational- and algorithmic-level models. The key idea is to push the notion of rationality, often used in defining computational-level models, deeper toward the algorithmic level. We offer a simple recipe for reverse-engineering the mind’s cognitive strategies by deriving optimal algorithms for a series of increasingly more realistic abstract computational architectures, which we call “resource-rational analysis.”
@cite_9: Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often requiring simplified dynamics that sacrifice safety and dynamic feasibility in order to plan efficiently. Conversely, safe trajectories can be computed using more sophisticated dynamic models, but this is typically too slow to be used for real-time planning. We propose a new algorithm FaSTrack: Fast and Safe Tracking for High Dimensional systems. A path or trajectory planner using simplified dynamics to plan quickly can be incorporated into the FaSTrack framework, which provides a safety controller for the vehicle along with a guaranteed tracking error bound. This bound captures all possible deviations due to high dimensional dynamics and external disturbances. Note that FaSTrack is modular and can be used with most current path or trajectory planners. We demonstrate this framework using a 10D nonlinear quadrotor model tracking a 3D path obtained from an RRT planner.
@cite_26: Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees but at high computational cost. This work builds on a recent development called FaSTrack in which a slow offline computation provides a modular safety guarantee for a faster online planner. We introduce the notion of "meta-planning" in which a refined offline computation enables safe switching between different online planners. This provides autonomous systems with the ability to adapt motion plans to a priori unknown environments in real-time as sensor measurements detect new obstacles, and the flexibility to maneuver differently in the presence of obstacles than they would in free space, all while maintaining a strict safety guarantee. We demonstrate the meta-planning algorithm both in simulation and in hardware using a small Crazyflie 2.0 quadrotor.
Humans are resource-bounded agents that must take into account the computational cost of their planning algorithm when selecting actions @cite_48 . One way to trade-off the ability to find high-value actions for lower computational cost is to plan using a simplified, low-dimensional model of the dynamics @cite_9 @cite_26 . Evidence from the cognitive science literature suggests humans find it difficult to predict the motion of objects when multiple information dimensions are involved @cite_28 . Thus, we arrive at an alternative explanation for why humans may behave near-optimally with respect to a dynamics model that differs from the real dynamics: even if users have perfect knowledge of the real dynamics, they may not have the computational resources to plan under the real dynamics, and instead choose to plan using a simplified model.