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 |
|
|