Sökning: L773:9798350336702 OR L773:9798350336719 >
Robot causal discov...
Robot causal discovery aided by human interaction
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- Edström, Filip, 1991- (författare)
- Umeå universitet,Statistik
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- Hellström, Thomas (författare)
- Umeå universitet,Institutionen för datavetenskap
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- de Luna, Xavier, Professor (författare)
- Umeå universitet,Statistik
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(creator_code:org_t)
- IEEE, 2023
- 2023
- Engelska.
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Ingår i: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). - : IEEE. - 9798350336702 - 9798350336719 ; , s. 1731-1736
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Causality is relatively unexplored in robotics even if it is highly relevant, in several respects. In this paper, we study how a robot’s causal understanding can be improved by allowing the robot to ask humans causal questions. We propose a general algorithm for selecting direct causal effects to ask about, given a partial causal representation (using partially directed acyclic graphs, PDAGs) obtained from observational data. We propose three versions of the algorithm inspired by different causal discovery techniques, such as constraint-based, score-based, and interventions. We evaluate the versions in a simulation study and our results show that asking causal questions improves the causal representation over all simulated scenarios. Further, the results show that asking causal questions based on PDAGs discovered from data provides a significant improvement compared to asking questions at random, and the version inspired by score-based techniques performs particularly well over all simulated experiments.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Matematik -- Sannolikhetsteori och statistik (hsv//swe)
- NATURAL SCIENCES -- Mathematics -- Probability Theory and Statistics (hsv//eng)
Nyckelord
- human-robot-interaction (hri)
- causal discovery
- causal inference
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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