I've Changed My Mind: Robots Adapting to Changing Human Goals during Collaboration Abstract --For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world scenarios, humans frequently shift goals, making it challenging for robots to adapt without explicit communication. We propose a method for detecting goal changes by tracking multiple candidate action sequences and verifying their plausibility against a policy bank. Upon detecting a change, the robot refines its belief in relevant past actions and constructs Receding Horizon Planning (RHP) trees to actively select actions that assist the human while encouraging Differentiating Actions to reveal their updated goal. We evaluate our approach in a collaborative cooking environment with up to 30 unique recipes and compare it to three comparable human goal prediction algorithms. Our method outperforms all baselines, quickly converging to the correct goal after a switch, reducing task completion time and improving collaboration efficiency. N real-world scenarios, humans often change their goals in response to evolving circumstances, new information, or spontaneous decisions. Previous work often addresses changing human goals by relying on explicit communication [1], [2], [3]. While effective, relying on communication assumes humans can and will communicate with the robot, which is often impractical due to physical, situational, or cognitive constraints [4], [5], [6], [7], [8].

An increasingly important job for the autonomous agents is determining what goal they should be accomplishing. In dynamic environments the goal of the autonomous agents does not always remain constant. This research examines how to detect and adapt to goal changes within a dynamic game environment. An adaptive learner capable of detecting concept drift is used to detect when a goal change has occurred within the game environment and exploration techniques are used to adapt to the change. Initial results show that the agent has an 84% detection rate.

In goal recognition, the basic problem domain consists of the following: Recent advances in robotics and artificial intelligence have brought a variety of assistive robots designed to help humans - a set E of environment fluents; accomplish their goals. However, many have limited autonomy and lack the ability to seamlessly integrate with - a state S that is a value assignment to those fluents; human teams. One capability that can facilitate such humanrobot - a set A of actions that describe potential transitions between teaming is the robot's ability to recognize its teammates' states (with preconditions and effects defined over goals, and react appropriately. This function permits E, and parameterized over a set of environment objects the robot to actively assist the team and avoid performing O); and redundant or counterproductive actions.