Biblio
Human behaviors are often prohibited, or permitted by social norms. Therefore, if autonomous agents interact with humans, they also need to reason about various legal rules, social and ethical social norms, so they would be trusted and accepted by humans. Inverse Reinforcement Learning (IRL) can be used for the autonomous agents to learn social norm-compliant behavior via expert demonstrations. However, norms are context-sensitive, i.e. different norms get activated in different contexts. For example, the privacy norm is activated for a domestic robot entering a bathroom where a person may be present, whereas it is not activated for the robot entering the kitchen. Representing various contexts in the state space of the robot, as well as getting expert demonstrations under all possible tasks and contexts is extremely challenging. Inspired by recent work on Modularized Normative MDP (MNMDP) and early work on context-sensitive RL, we propose a new IRL framework, Context-Sensitive Norm IRL (CNIRL). CNIRL treats states and contexts separately, and assumes that the expert determines the priority of every possible norm in the environment, where each norm is associated with a distinct reward function. The agent chooses the action to maximize its cumulative rewards. We present the CNIRL model and show that its computational complexity is scalable in the number of norms. We also show via two experimental scenarios that CNIRL can handle problems with changing context spaces.
In this paper, we study trust-related human factors in supervisory control of swarm robots with varied levels of autonomy (LOA) in a target foraging task. We compare three LOAs: manual, mixed-initiative (MI), and fully autonomous LOA. In the manual LOA, the human operator chooses headings for a flocking swarm, issuing new headings as needed. In the fully autonomous LOA, the swarm is redirected automatically by changing headings using a search algorithm. In the mixed-initiative LOA, if performance declines, control is switched from human to swarm or swarm to human. The result of this work extends the current knowledge on human factors in swarm supervisory control. Specifically, the finding that the relationship between trust and performance improved for passively monitoring operators (i.e., improved situation awareness in higher LOAs) is particularly novel in its contradiction of earlier work. We also discover that operators switch the degree of autonomy when their trust in the swarm system is low. Last, our analysis shows that operator's preference for a lower LOA is confirmed for a new domain of swarm control.