Robots are added to human teams to increase the team's skills or capabilities but in order to get the full benefit the teams must trust the robots. We present an approach that allows a robot to estimate its trustworthiness and adapt its behavior accordingly. Additionally, the robot uses case-based reasoning to store previous behavior adaptations and uses this information to perform future adaptations. In a simulated robotics domain, we compare case-based behavior adaption to behavior adaptation that does not learn and show it significantly reduces the number of behaviors that need to be evaluated before a trustworthy behavior is found.

This paper focuses on case acquisition strategies in the context of Case-based Learning from Observation (CBLfO). In Learning from Observation (LfO), a system learns behaviors by observing an expert rather than being explicitly programmed. Specifically, we focus on the problem of learning behaviors from experts that reason using internal state information, that is, information that can not be directly observed. The unobservability of this state information means that the behaviors can not be represented by a simple perception-to-action mapping. We propose a new case acquisition strategy called "Similarity-based Chunking", and compare it with existing strategies to address this problem. Additionally, since standard classification accuracy in predicting the expert's actions is known to be a poor measure for evaluating LfO systems, we propose a new evaluation procedure based on two complementary metrics: behavior performance and similarity with the expert.