On-the-fly Learning and Monitoring of Partially Observed Navigation Plan

This work focuses on a robot's task of predicting the navigation intent of human teammates using Inverse Reinforcement Learning. The purpose of this study is to introduce the On-the-fly Maximum Margin Planner (OTF-MMP) method which estimates a predictive navigation model in real-time from the observed actions of a human teammate. We include an experiment to test the predictive ability of the method using simulation. CCS Concepts •Computing methodologies → Inverse reinforcement learning;