{"639618":{"#nid":"639618","#data":{"type":"event","title":"PhD proposal by Shray Bansal","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003EGame-Theoretic Planning for Parallel Play\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EDate\u003C\/strong\u003E: Friday, October 2nd, 2020\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ETime\u003C\/strong\u003E: 10:30 AM - 12:30 PM (EST)\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ELocation:\u0026nbsp;\u003C\/strong\u003EBlueJeans meeting (\u003Ca href=\u0022https:\/\/bluejeans.com\/1191418749\u0022 id=\u0022LPlnk568931\u0022\u003Ehttps:\/\/bluejeans.com\/1191418749\u003C\/a\u003E)\u003C\/p\u003E\r\n\r\n\u003Cp\u003E**Note: this\u0026nbsp;proposal\u0026nbsp;is remote-only**\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EShray Bansal\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EComputer Science Ph.D. Student\u003C\/p\u003E\r\n\r\n\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\r\n\r\n\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Charles L. Isbell (Advisor) \u0026ndash; School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Ayanna Howard (Co-advisor) \u0026ndash; School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Mark Riedl \u0026ndash; School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Sonia Chernova\u0026ndash; School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EAs more robots become integrated into human environments, they will find themselves sharing space with other independently acting agents like people or other robots. Sharing space often leads to conflict, even among humans, and managing this conflict well is key to task completion and successful integration.\u0026nbsp;In this work, tasks, where humans and robots perform separate activities but interact due to shared space, are termed as parallel play. The goal of this research is to model such functions in the context of Human-Robot Interaction (HRI) and develop approaches that enable robots to perform their individual tasks\u0026nbsp;efficiently while reducing the conflict with the people around them.\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EWe have considered three parallel play tasks. First, in simulated driving, we model the interaction as a collaboration where the robot plans using a shared reward that combines both of their individual utilities. Balancing their goals here led to better task performance for both agents. Second, we develop interaction supporting actions and apply them to a close-proximity manipulation task between a robot and a human. \u0026nbsp;These actions allow the robot to deliberately move the human\u0026rsquo;s objects in a way that reduces future goal conflict. \u0026nbsp;Although they increase task completion time, they led to less interference with the human and increased the robot\u0026rsquo;s favorability as a coworker. These experiments show us that: (1) consideration of other\u0026rsquo;s goals is important for effective coordination and (2) human plans can be influenced to reduce the interference between the agents.\u0026nbsp; We use these ideas to develop a game-theoretic technique that treats a parallel play task as a noncooperative game and computes the Nash equilibrium\u0026nbsp;to plan agent actions. \u0026nbsp;We apply it to a simulated close-proximity pick-and-place task and show that it can coordinate well with different kinds of agents with varying personalities.\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EOur plan for the proposed work aims to generalize this approach to an intersection navigation scenario. Here, we will model the car\u0026#39;s high-level decision-making as parallel play to generate motion plans for the autonomous vehicle by finding the Nash equilibria. Our goal is to validate its applicability to this scenario by studying the interaction with human-driven cars. This will also allow us to test the feasibility of the approach to more than two agents.\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Game-Theoretic Planning for Parallel Play"}],"uid":"27707","created_gmt":"2020-09-28 13:10:43","changed_gmt":"2020-09-28 13:10:43","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2020-10-02T11:30:00-04:00","event_time_end":"2020-10-02T13:30:00-04:00","event_time_end_last":"2020-10-02T13:30:00-04:00","gmt_time_start":"2020-10-02 15:30:00","gmt_time_end":"2020-10-02 17:30:00","gmt_time_end_last":"2020-10-02 17:30:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"174045","name":"Graduate students"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}