Publication Details

SELECT * FROM publications WHERE Record_Number=10871
Reference TypeConference Proceedings
Author(s)Toussaint, M.; Munzer, T.; Mollard, Y.; Wu, L.Y.; Lopes, M.
TitleRelational Activity Processes for Modeling Concurrent Cooperation
Journal/Conference/Book TitleInternational Conference on Robotics and Automation (ICRA)
AbstractIn multi-agent domains, human-robot collaboration domains, or single-robot manipulation with multiple end-effectors, the activities of the involved parties are naturally concurrent. Such domains are also naturally relational as they involve multiple objects, multiple agents, and models should generalize over objects and agents. We propose a novel formalization of relational concurrent activity processes that allows us to transfer methods from standard (relational) MDPs, such as Monte-Carlo planning and learning from demonstration, to concurrent cooperation domains. We formally compare the formulation to previous propositional models of concurrent decision making and demonstrate the planning and learning from demonstration methods on a real-world human-robot assembly task.
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