On Safe and Efficient Human-robot Interactions via Multimodal Intent Modeling and Reachability-based Safety Assurance
May 01, 2020, Webb 1100
In this talk I will present a decision-making and control stack for human-robot interactions by using autonomous driving as a motivating example. Specifically, I will first discuss a data-driven approach for learning multimodal interaction dynamics between robot-driven and human-driven vehicles based on recent advances in deep generative modeling. Then, I will discuss how to incorporate such a learned interaction model into a real-time, interaction-aware decision-making framework. The framework is designed to be minimally interventional; in particular, by leveraging backward reachability analysis, it ensures safety even when other cars defy the robot's expectations without unduly sacrificing performance. I will present recent results from experiments on a full-scale steer-by-wire platform, validating the framework and providing practical insights. I will conclude the talk by providing an overview of related efforts from my group on infusing safety assurances in robot autonomy stacks equipped with learning-based components, with an emphasis on adding structure within robot learning via control-theoretical and formal methods.
In 2017 he was the recipient of the Petar Kokotovic distinguished professorship from the University of California at Santa Barbara (UCSB). In 2019-2020 he got a Leverhulme visiting professorship at Royal Holloway University of London. He is currently Associate Editor of IEEE Transactions on Automatic Control and member of the international program committee for the events NECSYS.