It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying
Why this work is in the frame
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Bibliographic record
Abstract
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for predicting realistic motion plans for cooperative human-robot teams on the task. Using a Variational Recurrent Neural Network (VRNN) to model the variation in the trajectory of a human-robot team across time, we are able to capture the distribution over the team's future states while leveraging information from interaction history. The key to our approach is leveraging human demonstration data to generate trajectories that synergize well with humans during test time in a receding horizon fashion. Comparison between a baseline, sampling-based planner RRT (Rapidly-exploring Random Trees) and the VRNN planner in centralized planning shows that the VRNN generates motion more similar to the distribution of human-human demonstrations than the RRT. Results in a human-in-the-loop user study show that the VRNN planner outperforms decentralized RRT on task-related metrics, and is significantly more likely to be perceived as human than the RRT planner. Finally, we demonstrate the VRNN planner on a real robot paired with a human teleoperating another robot.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it