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Training and evaluation of an MDP model for social multi user human robot interaction

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Figure

Figure 1: The robot bartender with two customers
Figure 2: Social state recognition and social skills execution in a multi-user simulated environment.
Table 1: State features for the social multi-user coordination policy. For each user, 4 features are includedin the state space, resulting in 32 · 22 = 36 states for interactions with up to 1 user, increasing to 1296states for interactions with up to 2 users and 46, 656 states for up to 3 users.
Table 4: Actions for the single-user interaction policy, which correspond to possible dialogue acts, exceptfor ‘no action’ and serving a drink
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