2P1-B07 自己の状態価値に基づく他者の意図推定

概要

論文の詳細を見る
Inferring intention of other agents is one of the most imortant issues in realizing cooperative behaviors in multiagent environment. This paper proposes a method where an observer infers the intention of other agent (performer) from its own estimated state values instead of conventional three-dimensional reconstruction of other agent's behaviors. This is because conventional methods often require precise knowledge of the camera parameters and the environment. Furthermore, the difference of the viewpoints between them may disturb the observer in its inferring intention of the performer even though the both take the same behavior in the physically same situation. However, the tendency of the estimated state value changes can be same if the both attempt to accomplish the same task. This inference method requires two steps. At first, the observer learns several behaiviors to accomplish various kinds of task, each of which may correspond to the other's intention to do it. Second, the observer estimates the variation of the state value of the performer through observation and figures out the behavior that has the same tendency of the value changes. The experiments results in computer simulation and the real robot tasks are shown.