On the Importance of Environments in Human-Robot Coordination
arXiv:2106.10853
Abstract
When studying robots collaborating with humans, much of the focus has been on robot policies that coordinate fluently with human teammates in collaborative tasks. However, less emphasis has been placed on the effect of the environment on coordination behaviors. To thoroughly explore environments that result in diverse behaviors, we propose a framework for procedural generation of environments that are (1) stylistically similar to human-authored environments, (2) guaranteed to be solvable by the human-robot team, and (3) diverse with respect to coordination measures. We analyze the procedurally generated environments in the Overcooked benchmark domain via simulation and an online user study. Results show that the environments result in qualitatively different emerging behaviors and statistically significant differences in collaborative fluency metrics, even when the robot runs the same planning algorithm.
arXiv commentAccepted to Robotics: Science and Systems (RSS) 2021
References in corpus (8)
- Robots that can adapt like animals
- Illuminating search spaces by mapping elites
- Covariance Matrix Adaptation for the Rapid Illumination of Behavior Space
- Super Mario as a String: Platformer Level Generation Via LSTMs
- On the Utility of Learning about Humans for Human-AI Coordination
- Discovering the Elite Hypervolume by Leveraging Interspecies Correlation
- Differentiable Quality Diversity
- CPPN2GAN: Combining Compositional Pattern Producing Networks and GANs for Large-scale Pattern Generation