Probabilistic Planning for Robotics with ROSPlan

Generating predicate suggestions based on the space of plans: an example of planning with preferences

Task planning in human-robot environments tends to be particularly complex as it involves additional uncertainty introduced by the human user. Several plans, entailing few or various differences, can be obtained to solve the same given task. To choose among them, the usual least-cost plan criteria is not necessarily the best option, because here, human constraints and preferences come into play. Knowing these user preferences is very valuable to select an appropriate plan, but the preference values are usually hard to obtain. In this context, we propose the Space-of-Plans-based Suggestions (SoPS) algorithms that can provide suggestions for some planning predicates, which are used to define the state of the environment in a task planning problem where actions modify the predicates. We denote these predicates as suggestible predicates, of which user preferences are a particular case. The first algorithm is able to analyze the potential effect of the unknown predicates and provide suggestions to values for these unknown predicates that may produce better plans. The second algorithm is able to suggest changes to already known values that potentially improve the obtained reward. The proposed approach utilizes a Space of Plans Tree structure to represent a subset of the space of plans. The tree is traversed to find the predicates and the values that would most increase the reward, and output them as a suggestion to the user. Our evaluation in three preference-based assistive robotics domains shows how the proposed algorithms can improve task performance by suggesting the most effective predicate values first.

Impact of decision-making system in social navigation

Facing human activity-aware navigation with a cognitive architecture raises several difficulties integrating the components and orchestrating behaviors and skills to perform social tasks. In a real-world scenario, the navigation system should not only consider individuals like obstacles. It is necessary to offer particular and dynamic people representation to enhance the HRI experience. The robot's behaviors must be modified by humans, directly or indirectly. In this paper, we integrate our human representation framework in a cognitive architecture to allow that people who interact with the robot could modify its behavior, not only with the interaction but also with their culture or the social context. The human representation framework represents and distributes the proxemic zones' information in a standard way, through a cost map. We have evaluated the influence of the decision-making system in human-aware navigation and how a local planner may be decisive in this navigation. The material developed during this research can be found in a public repository (https://github.com/IntelligentRoboticsLabs/social_navigation2_WAF) and instructions to facilitate the reproducibility of the results.

An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics

Using Automated Planning for the high level control of robotic architectures is becoming very popular thanks mainly to its capability to define the tasks to perform in a declarative way. However, classical planning tasks, even in its basic standard Planning Domain Definition Language (PDDL) format, are still very hard to formalize for non expert engineers when the use case to model is complex. Human Robot Interaction (HRI) is one of those complex environments. This manuscript describes the rationale followed to design a planning model able to control social autonomous robots interacting with humans. It is the result of the authors’ experience in modeling use cases for Social Assistive Robotics (SAR) in two areas related to healthcare: Comprehensive Geriatric Assessment (CGA) and non-contact rehabilitation therapies for patients with physical impairments. In this work a general definition of these two use cases in a unique planning domain is proposed, which favors the management and integration with the software robotic architecture, as well as the addition of new use cases. Results show that the model is able to capture all the relevant aspects of the Human-Robot interaction in those scenarios, allowing the robot to autonomously perform the tasks by using a standard planning-execution architecture.

Answerable and Unanswerable Questions in Risk Analysis with Open-World Novelty

Decision analysis and risk analysis have grown up around a set of organizing questions: what might go wrong, how likely is it to do so, how bad might the consequences be, what should be done to maximize expected utility and minimize expected loss or regret, and how large are the remaining risks? In probabilistic causal models capable of representing unpredictable and novel events, probabilities for what will happen, and even what is possible, cannot necessarily be determined in advance. Standard decision and risk analysis questions become inherently unanswerable ("undecidable") for realistically complex causal systems with "open-world" uncertainties about what exists, what can happen, what other agents know, and how they will act. Recent artificial intelligence (AI) techniques enable agents (e.g., robots, drone swarms, and automatic controllers) to learn, plan, and act effectively despite open-world uncertainties in a host of practical applications, from robotics and autonomous vehicles to industrial engineering, transportation and logistics automation, and industrial process control. This article offers an AI/machine learning perspective on recent ideas for making decision and risk analysis (even) more useful. It reviews undecidability results and recent principles and methods for enabling intelligent agents to learn what works and how to complete useful tasks, adjust plans as needed, and achieve multiple goals safely and reasonably efficiently when possible, despite open-world uncertainties and unpredictable events. In the near future, these principles could contribute to the formulation and effective implementation of more effective plans and policies in business, regulation, and public policy, as well as in engineering, disaster management, and military and civil defense operations. They can extend traditional decision and risk analysis to deal more successfully with open-world novelty and unpredictable events in large-scale real-world planning, policymaking, and risk management.