Many people may benefit from assistive robots that understand their users’ intentions and aid them with the execution of these intentions in a safe and intuitive way through shared control. In the past, our research group has worked on semi-autonomous robotic wheelchairs transporting people with mobility challenges. Experimental results with our user-adaptive Bayesian approach for both intention estimation and shared human-machine decision-making under uncertainty have shown that in situations where the driver changes his or her intention, the assistive behavior by the robot may under certain conditions be counter-intuitive as it continues to take actions that are in line with the previous user intention, and this for too long a period of time. To remedy this, this paper proposes an approach to detect such changes in user plans in order to make the robot’s assistive behavior more reactive and thus more intuitive. The approach adopts a test that checks the consistency of the posterior distribution over user intentions with the given steering signals. A proof-of-concept study of this test’s performance is shown.

Recent work by Becker and Hinton (Becker and Hinton, 1992) shows a promising mechanism, based on maximizing mutual information assuming spatial coherence, by which a system can selforganize itself to learn visual abilities such as binocular stereo. We introduce a more general criterion, based on Bayesian probability theory, and thereby demonstrate a connection to Bayesian theories of visual perception and to other organization principles for early vision (Atick and Redlich, 1990). Methods for implementation using variants of stochastic learning are described and, for the special case of linear filtering, we derive an analytic expression for the output. 1 Introduction The input intensity patterns received by the human visual system are typically complicated functions of the object surfaces and light sources in the world. It *Lei Xu was a research scholar in the Division of Applied Sciences at Harvard University while this work was performed. Thus the visual system must be able to extract information from the input intensities that is relatively independent of the actual intensity values.

Recent work by Becker and Hinton (Becker and Hinton, 1992) shows a promising mechanism, based on maximizing mutual information assuming spatial coherence, by which a system can selforganize itself to learn visual abilities such as binocular stereo. We introduce a more general criterion, based on Bayesian probability theory, and thereby demonstrate a connection to Bayesian theories of visual perception and to other organization principles for early vision (Atick and Redlich, 1990). Methods for implementation using variants of stochastic learning are described and, for the special case of linear filtering, we derive an analytic expression for the output. 1 Introduction The input intensity patterns received by the human visual system are typically complicated functions of the object surfaces and light sources in the world. It *Lei Xu was a research scholar in the Division of Applied Sciences at Harvard University while this work was performed. Thus the visual system must be able to extract information from the input intensities that is relatively independent of the actual intensity values.

Smirnakis Lyman Laboratory of Physics Harvard University Cambridge, MA 02138 Lei Xu * Dept. of Computer Science HSH ENG BLDG, Room 1006 The Chinese University of Hong Kong Shatin, NT Hong Kong Abstract Recent work by Becker and Hinton (Becker and Hinton, 1992) shows a promising mechanism, based on maximizing mutual information assumingspatial coherence, by which a system can selforganize itself to learn visual abilities such as binocular stereo. We introduce a more general criterion, based on Bayesian probability theory, and thereby demonstrate a connection to Bayesian theories ofvisual perception and to other organization principles for early vision (Atick and Redlich, 1990). Methods for implementation usingvariants of stochastic learning are described and, for the special case of linear filtering, we derive an analytic expression for the output. 1 Introduction The input intensity patterns received by the human visual system are typically complicated functions of the object surfaces and light sources in the world. It *Lei Xu was a research scholar in the Division of Applied Sciences at Harvard University while this work was performed. Thus the visual system must be able to extract information from the input intensities that is relatively independent of the actual intensity values.