Robots Influencing Humans to Reveal their Goals during Collaboration and Competition

• URL: http://arxiv.org/abs/2609.05519v1
• Date: Mon, 31 Aug 2026 17:33:04 GMT
• Title: Robots Influencing Humans to Reveal their Goals during Collaboration and Competition
• Abstract summary: We propose a unified strategy for fast goal inference in human-robot interaction.<n>We formalise CDPs using a goal-conditioned policy divergence measure and incorporate them into a Receding-Horizon Planner.<n>We evaluate this approach in both a collaborative, fully observable cooking task and a competitive, partially observable hide-and-seek game.
• Score: 0.7157957528875097
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We propose a unified strategy for fast goal inference in human-robot interaction. The core idea is to drive the human toward Critical Decision Points (CDPs)-states where competing human strategies prescribe different next actions and thus maximally reveal the goal. We formalise CDPs using a goal-conditioned policy divergence measure and incorporate them into a Receding-Horizon Planner that explores future action sequences while optimizing a cost function balancing task progress and information gain. We evaluate this approach in both a collaborative, fully observable cooking task and a competitive, partially observable hide-and-seek game, each in simulation and on real robots. In both scenarios, our method infers human goals more accurately and earlier than baseline strategies.

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