Towards we-intentional human-robot interaction using theory of mind and hierarchical task network

Joint activity between human and robot agent requires them to not only form joint intention and share a mutual understanding about it but also to determine their type of commitment. Such commitment types allows robot agent to select appropriate strategies based on what can be expected from others involved in performing the given joint activity. This work proposes an architecture embedding commitments as we-intentional modes in a belief-desire-intention (BDI) based Theory of Mind (ToM) model. Dialogue mediation gathers observations facilitating ToM to infer the joint activity and hierarchical task network (HTN) plans the execution.The work is ongoing and currently the proposed architecture is being implemented to be evaluated during human-robot interaction studies.
Special Session on Interaction with Humanoid Robots