Relational activity processes for modeling concurrent cooperation

Marc Toussaint, Thibaut Munzer, Yoan Mollard, Yang Wu Li, Vien Ngo, Manuel Lopes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)


In human-robot collaboration, multi-agent domains, or single-robot manipulation with multiple end-effectors, the activities of the involved parties are naturally concurrent. Such domains are also naturally relational as they involve objects, multiple agents, and models should generalize over objects and agents. We propose a novel formalization of relational concurrent activity processes that allows us to transfer methods from standard relational MDPs, such as Monte-Carlo planning and learning from demonstration, to concurrent cooperation domains. We formally compare the formulation to previous propositional models of concurrent decision making and demonstrate planning and learning from demonstration methods on a real-world human-robot assembly task.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation (ICRA): Proceedings
Subtitle of host publicationICRA
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)978-1-4673-8026-3
Publication statusPublished - 09 Jun 2016


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