Emily Sumner

Mariah L. Schrum, Emily Sumner, Matthew C. Gombolay et al.

Personalization of autonomous vehicles (AV) may significantly increase trust, use, and acceptance. In particular, we hypothesize that the similarity of an AV's driving style compared to the end-user's driving style will have a major impact on end-user's willingness to use the AV. To investigate the impact of driving style on user acceptance, we 1) develop a data-driven approach to personalize driving style and 2) demonstrate that personalization significantly impacts attitudes towards AVs. Our approach learns a high-level model that tunes low-level controllers to ensure safe and personalized control of the AV. The key to our approach is learning an informative, personalized embedding that represents a user's driving style. Our framework is capable of calibrating the level of aggression so as to optimize driving style based upon driver preference. Across two human subject studies (n = 54), we first demonstrate our approach mimics the driving styles of end-users and can tune attributes of style (e.g., aggressiveness). Second, we investigate the factors (e.g., trust, personality etc.) that impact homophily, i.e. an individual's preference for a driving style similar to their own. We find that our approach generates driving styles consistent with end-user styles (p<.001) and participants rate our approach as more similar to their level of aggressiveness (p=.002). We find that personality (p<.001), perceived similarity (p<.001), and high-velocity driving style (p=.0031) significantly modulate the effect of homophily.

Jonathan A. DeCastro, Deepak Gopinath, Guy Rosman et al.

To construct effective teaming strategies between humans and AI systems in complex, risky situations requires an understanding of individual preferences and behaviors of humans. Previously this problem has been treated in case-specific or data-agnostic ways. In this paper, we build a framework capable of capturing a compact latent representation of the human in terms of their behavior and preferences based on data from a simulated population of drivers. Our framework leverages, to the extent available, knowledge of individual preferences and types from samples within the population to deploy interaction policies appropriate for specific drivers. We then build a lightweight simulation environment, HMIway-env, for modelling one form of distracted driving behavior, and use it to generate data for different driver types and train intervention policies. We finally use this environment to quantify both the ability to discriminate drivers and the effectiveness of intervention policies.

Megha Srivastava, Jonathan Ouyang, Eric Zhou et al.

Skill atrophy, the gradual decline of human capability under AI assistance, poses a safety risk in shared-control of semi-autonomous systems, where operators may be unable to distinguish their own inputs from autonomous corrections. We propose Proximal State Nudging (PSN), a shared autonomy algorithm that jointly optimizes for skill development and task performance by nudging users toward states estimated to be most learnable. We first show that PSN outperforms existing shared autonomy baselines in balancing student improvement in unassisted reward with overall shared performance, using simulated students in the classic LunarLander environment. We then present, to the best of our knowledge, the first human subject studies of a planner incorporating learning-compatible shared autonomy: across two driving tasks in the CARLA simulator (High Performance Racing and Parallel Parking, n = 60), PSN produces up to 7x larger gains in unassisted skill than standard blended shared autonomy, while incurring 50% fewer collisions than unassisted self-practice.

Sounak Banerjee, Daphne Cornelisse, Deepak Gopinath et al.

People's goal-directed behaviors are influenced by their cognitive biases, and autonomous systems that interact with people should be aware of this. For example, people's attention to objects in their environment will be biased in a way that systematically affects how they perform everyday tasks such as driving to work. Here, building on recent work in computational cognitive science, we formally articulate the attention-aware inverse planning problem, in which the goal is to estimate a person's attentional biases from their actions. We demonstrate how attention-aware inverse planning systematically differs from standard inverse reinforcement learning and how cognitive biases can be inferred from behavior. Finally, we present an approach to attention-aware inverse planning that combines deep reinforcement learning with computational cognitive modeling. We use this approach to infer the attentional strategies of RL agents in real-life driving scenarios selected from the Waymo Open Dataset, demonstrating the scalability of estimating cognitive biases with attention-aware inverse planning.

Megha Srivastava, Reihaneh Iranmanesh, Yuchen Cui et al.

Motor skill learning often requires experienced professionals who can provide personalized instruction. Unfortunately, the availability of high-quality training can be limited for specialized tasks, such as high performance racing. Several recent works have leveraged AI-assistance to improve instruction of tasks ranging from rehabilitation to surgical robot tele-operation. However, these works often make simplifying assumptions on the student learning process, and fail to model how a teacher's assistance interacts with different individuals' abilities when determining optimal teaching strategies. Inspired by the idea of scaffolding from educational psychology, we leverage shared autonomy, a framework for combining user inputs with robot autonomy, to aid with curriculum design. Our key insight is that the way a student's behavior improves in the presence of assistance from an autonomous agent can highlight which sub-skills might be most ``learnable'' for the student, or within their Zone of Proximal Development. We use this to design Z-COACH, a method for using shared autonomy to provide personalized instruction targeting interpretable task sub-skills. In a user study (n=50), where we teach high performance racing in a simulated environment of the Thunderhill Raceway Park with the CARLA Autonomous Driving simulator, we show that Z-COACH helps identify which skills each student should first practice, leading to an overall improvement in driving time, behavior, and smoothness. Our work shows that increasingly available semi-autonomous capabilities (e.g. in vehicles, robots) can not only assist human users, but also help *teach* them.

Jonathan DeCastro, Andrew Silva, Deepak Gopinath et al.

Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical objective to assist in a way that is consistent with the objective (e.g., navigating left or right around an obstacle). To address this challenge, we present Dream2Assist, a framework that combines a rich world model able to infer human objectives and value functions, and an assistive agent that provides appropriate expert assistance to a given human teammate. Our approach builds on a recurrent state space model to explicitly infer human intents, enabling the assistive agent to select actions that align with the human and enabling a fluid teaming interaction. We demonstrate our approach in a high-speed racing domain with a population of synthetic human drivers pursuing mutually exclusive objectives, such as "stay-behind" and "overtake". We show that the combined human-robot team, when blending its actions with those of the human, outperforms the synthetic humans alone as well as several baseline assistance strategies, and that intent-conditioning enables adherence to human preferences during task execution, leading to improved performance while satisfying the human's objective.

John Gideon, Kimimasa Tamura, Emily Sumner et al.

Despite recent advances in automated driving technology, impaired driving continues to incur a high cost to society. In this paper, we present a driving dataset designed to support the study of two common forms of driver impairment: alcohol intoxication and cognitive distraction. Our dataset spans 23.7 hours of simulated urban driving, with 52 human subjects under normal and impaired conditions, and includes both vehicle data (ground truth perception, vehicle pose, controls) and driver-facing data (gaze, audio, surveys). It supports analysis of changes in driver behavior due to alcohol intoxication (0.10\% blood alcohol content), two forms of cognitive distraction (audio n-back and sentence parsing tasks), and combinations thereof, as well as responses to a set of eight controlled road hazards, such as vehicle cut-ins. The dataset will be made available at https://toyotaresearchinstitute.github.io/IDD/.

Nikos Arechiga, Francine Chen, Rumen Iliev et al.

Identifying personalized interventions for an individual is an important task. Recent work has shown that interventions that do not consider the demographic background of individual consumers can, in fact, produce the reverse effect, strengthening opposition to electric vehicles. In this work, we focus on methods for personalizing interventions based on an individual's demographics to shift the preferences of consumers to be more positive towards Battery Electric Vehicles (BEVs). One of the constraints in building models to suggest interventions for shifting preferences is that each intervention can influence the effectiveness of later interventions. This, in turn, requires many subjects to evaluate effectiveness of each possible intervention. To address this, we propose to identify personalized factors influencing BEV adoption, such as barriers and motivators. We present a method for predicting these factors and show that the performance is better than always predicting the most frequent factors. We then present a Reinforcement Learning (RL) model that learns the most effective interventions, and compare the number of subjects required for each approach.

Totte Harinen, Alexandre Filipowicz, Shabnam Hakimi et al.

Different advertising messages work for different people. Machine learning can be an effective way to personalise climate communications. In this paper we use machine learning to reanalyse findings from a recent study, showing that online advertisements increased some people's belief in climate change while resulting in decreased belief in others. In particular, we show that the effect of the advertisements could change depending on people's age and ethnicity.