Don’t park there! Learning socially-appropriate robot parking spots in the home

Apaar Sadhwani

Abstract: As autonomous social robots become more prevalent in home environments, they must decide where to position themselves within many different types of rooms or spaces, balancing accessibility with staying out of the way. This paper presents a machine learning approach to modeling user preferences for robot parking spots in the home using standard 2D occupancy maps. Our method learns spatial patterns from the information available in the occupancy maps and user-annotated floorplans without requiring specialized inputs. We evaluate the approach using floorplan data from 84 users who provided parking spot preferences after living with and evaluating a social robot in their homes for at least two weeks. Our method significantly outperforms a state-of-the-art baseline focused exclusively on avoiding walking paths. We demonstrate how the approach extends to additional map features and share in-sights about the types of preference patterns learned by the model. This contribution provides a framework that can incorporate new environmental inputs as robot perception capabilities evolve.