/Dual_Control_HRI

Implementation of implicit dual control-based active uncertainty learning for human-robot interaction.

Primary LanguageMATLABBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

Active Uncertainty Learning for Human-Robot Interaction: An Implicit Dual Control Approach

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Active Uncertainty Learning for HRI

Active Uncertainty Learning for Human-Robot Interaction: An Implicit Dual Control Approach

Table of Contents
  1. About The Project
  2. Dependencies
  3. Example
  4. License
  5. Contact
  6. Paper

About The Project

We provide an MATLAB implementation of implicit dual control-based active uncertainty learning for autonomous driving applications, which can be found here.

Click to watch our spotlight video: Watch the video

Dependencies

Trajectory Optimization

  • MPT3 (Toolbox for MPC and parametric optimization.)
  • SNOPT (Nonlinear programming solver. Academic licenses are available.)

Visualization

  • Robotics Toolbox for MATLAB (Tools for plotting the vehicles. You need to first install it in MATLAB and then replace plot_vehicle.m in the root directory with ours.)

Example

In this repository, we provide an example of our method applied for human-robot interactive driving scenarios.

  1. Clone the repo 
    git clone https://github.com/SafeRoboticsLab/Dual_Control_HRI.git
  2. In MATLAB, run the main.m script to reproduce our results.

License

Distributed under the BSD 3-Clause License. See LICENSE for more information.

Contact

Haimin Hu - @HaiminHu - haiminh@princeton.edu

Project Link: https://github.com/SafeRoboticsLab/Dual_Control_HRI

Homepage Link: https://haiminhu.org/dual_control_hri

Paper

Available on arXiv: https://arxiv.org/abs/2202.07720

@incollection{hu2022active,
  title={Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control Approach},
  author={Hu, Haimin and Fisac, Jaime F.},
  booktitle={Algorithmic Foundations of Robotics XV},
  year={2022},
  publisher={Springer}
}

Our prior work:

@article{hu2022sharp,
  author={Hu, Haimin and Nakamura, Kensuke and Fisac, Jaime F.},
  journal={IEEE Robotics and Automation Letters}, 
  title={SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction}, 
  year={2022},
  volume={7},
  number={2},
  pages={5591-5598},
  doi={10.1109/LRA.2022.3155229}
}