Surrogate Assisted Generation of Human-Robot Interaction ScenariosDownload PDF

Published: 30 Aug 2023, Last Modified: 03 Jul 2024CoRL 2023 OralReaders: Everyone
Keywords: Scenario Generation, Human-Robot Interaction, Quality Diversity
TL;DR: We present an efficient method of automatically generating challenging and diverse human-robot interaction scenarios.
Abstract: As human-robot interaction (HRI) systems advance, so does the difficulty of evaluating and understanding the strengths and limitations of these systems in different environments and with different users. To this end, previous methods have algorithmically generated diverse scenarios that reveal system failures in a shared control teleoperation task. However, these methods require directly evaluating generated scenarios by simulating robot policies and human actions. The computational cost of these evaluations limits their applicability in more complex domains. Thus, we propose augmenting scenario generation systems with surrogate models that predict both human and robot behaviors. In the shared control teleoperation domain and a more complex shared workspace collaboration task, we show that surrogate assisted scenario generation efficiently synthesizes diverse datasets of challenging scenarios. We demonstrate that these failures are reproducible in real-world interactions.
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