A Behavioural Transformer for Effective Collaboration between a Robot and a Non-stationary Human

Ruaridh Mon-Williams, Theodoros Stouraitis, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

A key challenge in human-robot collaboration is the non-stationarity created by humans due to changes in their behaviour. This alters environmental transitions and hinders human-robot collaboration. We propose a principled meta-learning framework to explore how robots could better predict human behaviour, and thereby deal with issues of non-stationarity. On the basis of this framework, we developed Behaviour-Transform (BeTrans). BeTrans is a conditional transformer that enables a robot agent to adapt quickly to new human agents with non-stationary behaviours, due to its notable performance with sequential data. We trained BeTrans on simulated human agents with different systematic biases in collaborative settings. We used an original customisable environment to show that BeTrans effectively collaborates with simulated human agents and adapts faster to non-stationary simulated human agents than SOTA techniques.
Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2023)
PublisherIEEE
Pages1150-1157
Number of pages8
ISBN (Electronic)979-8-3503-3670-2
ISBN (Print)979-8-3503-3671-9
DOIs
Publication statusPublished - 13 Nov 2023
Event32nd IEEE International Conference on Robot and Human Interactive Communication - Busan, Korea, Republic of
Duration: 28 Aug 202331 Aug 2023
Conference number: 32
https://ro-man2023.org/overview/welcomeMessage

Publication series

NameIEEE International Workshop on Robot and Human Communication (ROMAN)
PublisherIEEE
ISSN (Print)1944-9445
ISSN (Electronic)1944-9437

Conference

Conference32nd IEEE International Conference on Robot and Human Interactive Communication
Abbreviated titleIEEE RO-MAN 2023
Country/TerritoryKorea, Republic of
CityBusan
Period28/08/2331/08/23
Internet address

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