Framing Human-Robot Task Communication as a Partially Observable Markov Decision Process

As general purpose robots become more capable, pre-programming of all tasks at the factory will become less practical. We would like for non-technical human owners to be able to communicate, through interaction with their robot, the details of a new task; I call this interaction “task communication”. During task communication the robot must infer the details of the task from unstructured human signals, and it must choose actions that facilitate this inference.