Social MDPs

Results

Comparison of our model with baselines

Model     Social Goal       Physical Goal  
  Cooperation Conflict Competition Coercion Exchange Overall    
Human 0.934 0.952 0.623 0.724 0.876 0.823 0.974  
Extended Social MDP (Ours) 0.845 0.851 0.471 0.651 0.814 0.726 0.831  
Inverse Planning 0.763 0.784 0.261 0.283 0.197 0.457 0.783  
Cue Based Model 0.461 0.434 0.127 0.156 0.083 0.252 0.432  

The accuracy of humans and each of the models at determining which social interaction is taking place in each of the 72 scenarios. Our model is significantly more accurate, particularly when it comes to recognizing social interactions.


Comparison of Physical and Social Goals between Human estimates and our model

Humans and our model scored 72 scenarios according to how likely each social goal was and how likely one of the physical goals was. The straight line is the best linear fit and the light blue band represents the 95% confidence interval. Our model agrees with humans and predicts their confidence scores for both social goal and the physical goal.


Results for experimental scenarios

For each of the experiment scenario we show the yellow robot’s estimation of the physical and social goal of the red robot using Social MDP at different levels and at each time step.

Result for Scenario # Yellow Robot Red Robot
Physical Goal Social Goal Social Goal Physical Goal
Result for Scenario 1 Tree None Cooperate Construction Site
Result for Scenario 2 Construction Site None Conflict Tree
Result for Scenario 3 Tree None Competiton Construction Site
Result for Scenario 4 Tree None Coercion Construction Site
Result for Scenario 5 Construction Site None Exchange Tree
Result for Scenario 6 Tree None None Construction Site
Result for Scenario 7 Tree Cooperate Cooperate Construction Site
Result for Scenario 8 Construction Site Cooperate Conflict Tree
Result for Scenario 9 Tree Cooperate Competiton Construction Site
Result for Scenario 10 Tree Cooperate Coercion Construction Site
Result for Scenario 11 Construction Site Cooperate Exchange Tree
Result for Scenario 12 Tree Cooperate None Construction Site
Result for Scenario 13 Construction Site Conflict Cooperate Tree
Result for Scenario 14 Construction Site Conflict Conflict Tree
Result for Scenario 15 Tree Conflict Competiton Construction Site
Result for Scenario 16 Construction Site Conflict Coercion Tree
Result for Scenario 17 Tree Conflict Exchange Construction Site
Result for Scenario 18 Construction Site Conflict None Tree
Result for Scenario 19 Tree Competiton Cooperate Construction Site
Result for Scenario 20 Construction Site Competiton Conflict Tree
Result for Scenario 21 Tree Competiton Competiton Construction Site
Result for Scenario 22 Construction Site Competiton Coercion Tree
Result for Scenario 23 Construction Site Competiton Exchange Tree
Result for Scenario 24 Tree Competiton None Construction Site
Result for Scenario 25 Construction Site Coercion Cooperate Tree
Result for Scenario 26 Tree Coercion Conflict Construction Site
Result for Scenario 27 Tree Coercion Competiton Construction Site
Result for Scenario 28 Tree Coercion Coercion Construction Site
Result for Scenario 29 Construction Site Coercion Exchange Tree
Result for Scenario 30 Tree Coercion None Construction Site
Result for Scenario 31 Construction Site Exchange Cooperate Tree
Result for Scenario 32 Construction Site Exchange Conflict Tree
Result for Scenario 33 Construction Site Exchange Competiton Tree
Result for Scenario 34 Construction Site Exchange Coercion Tree
Result for Scenario 35 Tree Exchange Exchange Construction Site
Result for Scenario 36 Construction Site Exchange None Tree
Result for Scenario 37 Construction Site None Cooperate Construction Site
Result for Scenario 38 Tree None Conflict Tree
Result for Scenario 39 Tree None Competiton Tree
Result for Scenario 40 Tree None Coercion Tree
Result for Scenario 41 Construction Site None Exchange Construction Site
Result for Scenario 42 Construction Site None None Construction Site
Result for Scenario 43 Construction Site Cooperate Cooperate Construction Site
Result for Scenario 44 Construction Site Cooperate Conflict Construction Site
Result for Scenario 45 Tree Cooperate Competiton Tree
Result for Scenario 46 Construction Site Cooperate Coercion Construction Site
Result for Scenario 47 Construction Site Cooperate Exchange Construction Site
Result for Scenario 48 Construction Site Cooperate None Construction Site
Result for Scenario 49 Construction Site Conflict Cooperate Construction Site
Result for Scenario 50 Construction Site Conflict Conflict Construction Site
Result for Scenario 51 Tree Conflict Competiton Tree
Result for Scenario 52 Tree Conflict Coercion Tree
Result for Scenario 53 Tree Conflict Exchange Tree
Result for Scenario 54 Tree Conflict None Tree
Result for Scenario 55 Construction Site Competiton Cooperate Construction Site
Result for Scenario 56 Construction Site Competiton Conflict Construction Site
Result for Scenario 57 Tree Competiton Competiton Tree
Result for Scenario 58 Tree Competiton Coercion Tree
Result for Scenario 59 Tree Competiton Exchange Tree
Result for Scenario 60 Tree Competiton None Tree
Result for Scenario 61 Construction Site Coercion Cooperate Construction Site
Result for Scenario 62 Tree Coercion Conflict Tree
Result for Scenario 63 Tree Coercion Competiton Tree
Result for Scenario 64 Tree Coercion Coercion Tree
Result for Scenario 65 Construction Site Coercion Exchange Construction Site
Result for Scenario 66 Tree Coercion None Tree
Result for Scenario 67 Construction Site Exchange Cooperate Construction Site
Result for Scenario 68 Tree Exchange Conflict Tree
Result for Scenario 69 Tree Exchange Competiton Tree
Result for Scenario 70 Tree Exchange Coercion Tree
Result for Scenario 71 Construction Site Exchange Exchange Construction Site
Result for Scenario 72 Construction Site Exchange None Construction Site
Result for Scenario 1

Red robot's goals      Social: Cooperate Physical: Construction Site
Yellow robot's goals  Social: None Physical: Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 2

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:None Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 3

Red robot's goals      Social:Competition Physical:Construction Site
Yellow robot's goals  Social:None Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 4

Red robot's goals      Social:Coercion Physical:Construction Site
Yellow robot's goals  Social:None Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 5

Red robot's goals      Social:Exchange Physical:Tree
Yellow robot's goals  Social:None Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 6

Red robot's goals      Social:None Physical:Construction Site
Yellow robot's goals  Social:None Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 7

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 8

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:Cooperate Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 9

Red robot's goals      Social:Competition Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 10

Red robot's goals      Social:Coercion Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 11

Red robot's goals      Social:Exchange Physical:Tree
Yellow robot's goals  Social:Cooperate Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 12

Red robot's goals      Social:None Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 13

Red robot's goals      Social:Cooperate Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 14

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 15

Red robot's goals      Social:Competition Physical:Construction Site
Yellow robot's goals  Social:Conflict Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 16

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 17

Red robot's goals      Social:Exchange Physical:Construction Site
Yellow robot's goals  Social:Conflict Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 18

Red robot's goals      Social:None Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 19

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:Competition Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 20

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:Competition Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 21

Red robot's goals      Social:Competition Physical:Construction Site
Yellow robot's goals  Social:Competition Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 22

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:Competition Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 23

Red robot's goals      Social:Exchange Physical:Tree
Yellow robot's goals  Social:Competition Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 24

Red robot's goals      Social:None Physical:Construction Site
Yellow robot's goals  Social:Competition Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 25

Red robot's goals      Social:Cooperate Physical:Tree
Yellow robot's goals  Social:Coercion Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 26

Red robot's goals      Social:Conflict Physical:Construction Site
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 27

Red robot's goals      Social:Competition Physical:Construction Site
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 28

Red robot's goals      Social:Coercion Physical:Construction Site
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 29

Red robot's goals      Social:Exchange Physical:Tree
Yellow robot's goals  Social:Coercion Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 30

Red robot's goals      Social:None Physical:Construction Site
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 31

Red robot's goals      Social:Cooperate Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 32

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 33

Red robot's goals      Social:Competition Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 34

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 35

Red robot's goals      Social:Exchange Physical:Construction Site
Yellow robot's goals  Social:Exchange Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 36

Red robot's goals      Social:None Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 37

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:None Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 38

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:None Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 39

Red robot's goals      Social:Competition Physical:Tree
Yellow robot's goals  Social:None Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 40

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:None Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 41

Red robot's goals      Social:Exchange Physical:Construction Site
Yellow robot's goals  Social:None Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 42

Red robot's goals      Social:None Physical:Construction Site
Yellow robot's goals  Social:None Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 43

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 44

Red robot's goals      Social:Conflict Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 45

Red robot's goals      Social:Competition Physical:Tree
Yellow robot's goals  Social:Cooperate Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 46

Red robot's goals      Social:Coercion Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 47

Red robot's goals      Social:Exchange Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 48

Red robot's goals      Social:None Physical:Construction Site
Yellow robot's goals  Social:Cooperate Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 49

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:Conflict Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 50

Red robot's goals      Social:Conflict Physical:Construction Site
Yellow robot's goals  Social:Conflict Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 51

Red robot's goals      Social:Competition Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 52

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 53

Red robot's goals      Social:Exchange Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 54

Red robot's goals      Social:None Physical:Tree
Yellow robot's goals  Social:Conflict Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 55

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:Competition Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 56

Red robot's goals      Social:Conflict Physical:Construction Site
Yellow robot's goals  Social:Competition Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 57

Red robot's goals      Social:Competition Physical:Tree
Yellow robot's goals  Social:Competition Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 58

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:Competition Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 59

Red robot's goals      Social:Exchange Physical:Tree
Yellow robot's goals  Social:Competition Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 60

Red robot's goals      Social:None Physical:Tree
Yellow robot's goals  Social:Competition Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 61

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:Coercion Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 62

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 63

Red robot's goals      Social:Competition Physical:Tree
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 64

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 65

Red robot's goals      Social:Exchange Physical:Construction Site
Yellow robot's goals  Social:Coercion Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 66

Red robot's goals      Social:None Physical:Tree
Yellow robot's goals  Social:Coercion Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 67

Red robot's goals      Social:Cooperate Physical:Construction Site
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 68

Red robot's goals      Social:Conflict Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 69

Red robot's goals      Social:Competition Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 70

Red robot's goals      Social:Coercion Physical:Tree
Yellow robot's goals  Social:Exchange Physical:Tree

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 71

Red robot's goals      Social:Exchange Physical:Construction Site
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model

Result for Scenario 72

Red robot's goals      Social:None Physical:Construction Site
Yellow robot's goals  Social:Exchange Physical:Construction Site

Model Physical goal estimation
(Level 1)
Social goal estimation
(Level 2)
Human
Extended Social MDP
Inverse Planning
Cue Based Model