Multi-objective optimal control for proactive decision making with temporal logic models

摘要

The operation of today’s robots entails interactions with humans, e.g., in autonomous driving amidst human-driven vehicles. To effectively do so, robots must proactively decode the intent of humans and concurrently leverage this knowledge for safe, cooperative task satisfaction: a problem we refer to as proactive decision making. However, simultaneous intent decoding and robotic control requires reasoning over several possible human behavioral models, resulting in high-dimensional state trajectories. In this paper, we address the proactive decision-making problem using a novel combination of formal methods, control, and data mining techniques. First, we distill high-dimensional state trajectories of human–robot interaction into concise, symbolic behavioral summaries that can be learned from data. Second, we leverage formal methods to model high-level agent goals, safe interaction, and information-seeking behavior with temporal logic formulas. Finally, we design a novel decision-making scheme that maintains a belief distribution over models of human behavior, and proactively plans informative actions. After showing several desirable theoretical properties, we apply our framework to a dataset of humans driving in crowded merging scenarios. For it, temporal logic models are generated and used to synthesize control strategies using tree-based value iteration and deep reinforcement learning. In addition, we illustrate how data-driven models of human responses to informative robot probes, such as from generative models such as conditional variational autoencoders, can be clustered with formal specifications. Results from simulated self-driving car scenarios demonstrate that data-driven strategies enable safe interaction, correct model identification, and significant dimensionality reduction.