AN ARCHITECTURE FOR UNDERSTANDING INTENT USING A NOVEL HIDDEN MARKOV FORMULATION

摘要

Understanding intent is an important aspect of communication among people and is an essential component of the human cognitive system. This capability is particularly relevant to situations that involve collaboration among multiple agents or detection of situations that can pose a particular threat. In this paper, we propose an approach that allows a physical robot to detect the intent of others based on experience acquired through its own sensory–motor capabilities, then use this experience while taking the perspective of the agent whose intent should be recognized. Our method uses a novel formulation of hidden Markov models (HMMs) designed to model a robot's experience and interaction with the world when performing various actions. The robot's capability to observe and analyze the current scene employs a novel vision-based technique for target detection and tracking, using a nonparametric recursive modeling approach. We validate this architecture with a physically embedded robot, detecting the intent of several people performing various activities.