Robot Learning of Human Trust

A codebase of the paper "Improving Trust Estimation in Human-Robot Collaboration Using Beta Reputation at Fine-grained Timescales".

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Paper | Code | ArXiv | Slide | Video | Presentation | ReadMe

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Authors

Resul Dagdanov, Milan Andrejevic, Dikai Liu, Chin-Teng Lin

Watch YouTube Video

Video 1: Detailed Explanation of the Proposed Framework [YouTube Link]

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Follow ReadMe File for Experiments and Source Code

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Citation

@misc{dagdanov2024trust,
      title={Improving Trust Estimation in Human-Robot Collaboration Using Beta Reputation at Fine-grained Timescales}, 
      author={Resul Dagdanov and Milan Andrejevic and Dikai Liu and Chin-Teng Lin},
      year={2024},
      eprint={2411.01866},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2411.01866}, 
}

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Teaser

Figure 1: Teaser of the Proposed Framework

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General Framework

Figure 2: General Framework

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Autonomous Tiling with Collaborative Robot

Video 2: Robot Executing Tiling Operation Autonomously after Learning from Demonstrations

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Human Trust Measurement

Figure 3: Measurement of Human Trust Toward a Robot (7-point Likert Scale)

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Methodology

Figure 4: Illustration of an Iterative Human Trust Modeling Process (Proposed Framework)

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Data Collection Process

Figure 5: Data Collection by Human Demonstrator in UTS Robotics Institute Lab Environment

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Reward Function with Maximum-Entropy Optimization

Video 3: Visualization of Robot Decision-Making Policy in ROS Simulation Environment during IRL Optimization