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The ongoing COVID-19 pandemic has inflicted tremendous economic and societal losses. In the absence of pharmaceutical interventions, the population behavioral response, including situational awareness and adherence to non-pharmaceutical intervention policies, has a significant impact on contagion dynamics. Game-theoretic models have been used to reproduce the concurrent evolution of behavioral responses and disease contagion, and social networks are critical platforms on which behavior imitation between social contacts, even dispersed in distant communities, takes place. Such joint contagion dynamics has not been sufficiently explored, which poses a challenge for policies aimed at containing the infection. In this study, we present a multi-layer network model to study contagion dynamics and behavioral adaptation. It comprises two physical layers that mimic the two solitary communities, and one social layer that encapsulates the social influence of agents from these two communities. Moreover, we adopt high-order interactions in the form of simplicial complexes on the social influence layer to delineate the behavior imitation of individual agents. This model offers a novel platform to articulate the interaction between physically isolated communities and the ensuing coevolution of behavioral change and spreading dynamics. The analytical insights harnessed therefrom provide compelling guidelines on coordinated policy design to enhance the preparedness for future pandemics.
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A-EXP4: Online Social Policy Learning for Adaptive Robot-Pedestrian Interaction
We study self-supervised adaptation of a robot's policy for social interaction, i.e., a policy for active communication with surrounding pedestrians through audio or visual signals. Inspired by the observation that humans continually adapt their behavior when interacting under varying social context, we propose Adaptive EXP4 (A-EXP4), a novel online learning algorithm for adapting the robot-pedestrian interaction policy. To address limitations of bandit algorithms in adaptation to unseen and highly dynamic scenarios, we employ a mixture model over the policy parameter space. Specifically, a Dirichlet Process Gaussian Mixture Model (DPMM) is used to cluster the parameters of sampled policies and maintain a mixture model over the clusters, hence effectively discovering policies that are suitable to the current environmental context in an unsupervised manner. Our simulated and real-world experiments demonstrate the feasibility of A-EXP4 in accommodating interaction with different types of pedestrians while jointly minimizing social disruption through the adaptation process. While the A-EXP4 formulation is kept general for application in a variety of domains requiring continual adaptation of a robot's policy, we specifically evaluate the performance of our algorithm using a suitcase-inspired assistive robotic platform. In this concrete assistive scenario, the algorithm observes how audio signals produced by the navigational system affect the behavior of pedestrians and adapts accordingly. Consequently, we find A-EXP4 to effectively adapt the interaction policy for gently clearing a navigation path in crowded settings, resulting in significant reduction in empirical regret compared to the EXP4 baseline.
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- Award ID(s):
- 1637927
- PAR ID:
- 10308745
- Date Published:
- Journal Name:
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/IROS40897.2019.8967737
