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Collaborative robots that provide anticipatory assistance are able to help people complete tasks more quickly. As anticipatory assistance is provided before help is explicitly requested, there is a chance that this action itself will influence the person’s future decisions in the task. In this work, we investigate whether a robot’s anticipatory assistance can drive people to make choices different from those they would otherwise make. Such a study requires measuring intent, which itself could modify intent, resulting in an observer paradox. To combat this, we carefully designed an experiment to avoid this effect. We considered several mitigations such as the careful choice of which human behavioral signals we use to measure intent and designing unobtrusive ways to obtain these signals. We conducted a user study (𝑁=99) in which participants completed a collaborative object retrieval task: users selected an object and a robot arm retrieved it for them. The robot predicted the user’s object selection from eye gaze in advance of their explicit selection, and then provided either collaborative anticipation (moving toward the predicted object), adversarial anticipation (moving away from the predicted object), or no anticipation (no movement, control condition). We found trends and participant comments suggesting people’s decision making changesmore »in the presence of a robot anticipatory motion and this change differs depending on the robot’s anticipation strategy.« less

A bstract A search is presented for a heavy W′ boson resonance decaying to a B or T vector-like quark and a t or a b quark, respectively. The analysis is performed using proton-proton collisions collected with the CMS detector at the LHC. The data correspond to an integrated luminosity of 138 fb − 1 at a center-of-mass energy of 13 TeV. Both decay channels result in a signature with a t quark, a Higgs or Z boson, and a b quark, each produced with a significant Lorentz boost. The all-hadronic decays of the Higgs or Z boson and of the t quark are selected using jet substructure techniques to reduce standard model backgrounds, resulting in a distinct three-jet W′ boson decay signature. No significant deviation in data with respect to the standard model background prediction is observed. Upper limits are set at 95% confidence level on the product of the W′ boson cross section and the final state branching fraction. A W′ boson with a mass below 3.1 TeV is excluded, given the benchmark model assumption of democratic branching fractions. In addition, limits are set based on generalizations of these assumptions. These are the most sensitive limits to datemore »for this final state.« less

Abstract A new algorithm is presented to discriminate reconstructed hadronic decays of tau leptons ( τ h ) that originate from genuine tau leptons in the CMS detector against τ h candidates that originate from quark or gluon jets, electrons, or muons. The algorithm inputs information from all reconstructed particles in the vicinity of a τ h candidate and employs a deep neural network with convolutional layers to efficiently process the inputs. This algorithm leads to a significantly improved performance compared with the previously used one. For example, the efficiency for a genuine τ h to pass the discriminator against jets increases by 10–30% for a given efficiency for quark and gluon jets. Furthermore, a more efficient τ h reconstruction is introduced that incorporates additional hadronic decay modes. The superior performance of the new algorithm to discriminate against jets, electrons, and muons and the improved τ h reconstruction method are validated with LHC proton-proton collision data at √ s = 13 TeV.