arXiv subjects

Elizabeth Phillips

Publications and source records attributed to Elizabeth Phillips.

6 recordsLinked to original sources

arXiv2026

Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments

We consider a task planning scenario in which robots sharing a persistent environment are assigned tasks one at a time from a held-out sequence. Standard task planners, lacking foresight of future tasks and inconsiderate of others' constraints, solve each task in isolation, leaving terminal states that increase future cost for all, side effects that compound over lengthy task sequences. To reduce cost over the sequence, a robot must anticipate how its actions now may impact performance on future tasks for all robots sharing the environment. Therefore, we present courteous anticipatory planning, wherein a model-based planner proposes candidate plans and selects the one that jointly minimizes immediate cost and aggregated expected future cost across all robots, estimated via independent per-robot learned estimators. This factored formulation avoids combinatorial joint rollouts and supports modular deployment: adding a robot requires only training its own estimator. We evaluate in two persistent PDDL domains, a home environment with robots that have similar capabilities but different responsibilities, and a restaurant environment where robots' distinct capabilities create states that other robots lack the capability to resolve. During lengthy task sequences, our planner reduces total cost by 10.43% versus myopic and 4.03% versus selfish anticipatory planning in a two-robot home environment and by 17.41% and 13.24%, respectively, in a three-robot restaurant.

cs.RO↗

arXiv2024

Evolutionary modelling reveals melodic and harmonic constraints on global scale structure

Since antiquity, musical scales have been explained by harmony rather than melody. This view relies on the mathematically designed scales of a few traditions, and was never directly tested. Testing it requires cross-cultural data and a method that judges theories by what they get wrong as well as right. We provide both, modelling scale evolution across 1,314 scales from 96 countries. A Melody model explains the near-universal preference for step-sizes of 1-3 semitones, and matches independent data from melodies, singing, and psychoacoustics. Harmony does far less: it explains the music-theoretic scales, but in those measured from performance it adds only a weak bias towards fourths, fifths, and octaves. Harmony's importance has been overstated, likely due to the historical focus on music-theoretic rather than measured scales. Melody is the primary driver of global scale structure; harmonic constraints are less impactful and mainly reflect musicological theory over musical performance.

cs.SD↗

arXiv2021

Humans' Assessment of Robots as Moral Regulators: Importance of Perceived Fairness and Legitimacy

Previous research has shown that the fairness and the legitimacy of a moral decision-maker are important for people's acceptance of and compliance with the decision-maker. As technology rapidly advances, there have been increasing hopes and concerns about building artificially intelligent entities that are designed to intervene against norm violations. However, it is unclear how people would perceive artificial moral regulators that impose punishment on human wrongdoers. Grounded in theories of psychology and law, we predict that the perceived fairness of punishment imposed by a robot would increase the legitimacy of the robot functioning as a moral regulator, which would in turn, increase people's willingness to accept and comply with the robot's decisions. We close with a conceptual framework for building a robot moral regulator that successfully can regulate norm violations.

cs.RO↗

arXiv2021

Two Many Cooks: Understanding Dynamic Human-Agent Team Communication and Perception Using Overcooked 2

This paper describes a research study that aims to investigate changes in effective communication during human-AI collaboration with special attention to the perception of competence among team members and varying levels of task load placed on the team. We will also investigate differences between human-human teamwork and human-agent teamwork. Our project will measure differences in the communication quality, team perception and performance of a human actor playing a Commercial Off - The Shelf game (COTS) with either a human teammate or a simulated AI teammate under varying task load. We argue that the increased cognitive workload associated with increases task load will be negatively associated with team performance and have a negative impact on communication quality. In addition, we argue that positive team perceptions will have a positive impact on the communication quality between a user and teammate in both the human and AI teammate conditions. This project will offer more refined insights on Human - AI relationship dynamics in collaborative tasks by considering communication quality, team perception, and performance under increasing cognitive workload.

cs.HC↗

arXiv2017

Communicating Robot Arm Motion Intent Through Mixed Reality Head-mounted Displays

Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues. However, robots often have difficulty efficiently communicating their motion intent to humans via these methods. Many existing methods for robot motion intent communication rely on 2D displays, which require the human to continually pause their work and check a visualization. We propose a mixed reality head-mounted display visualization of the proposed robot motion over the wearer's real-world view of the robot and its environment. To evaluate the effectiveness of this system against a 2D display visualization and against no visualization, we asked 32 participants to labeled different robot arm motions as either colliding or non-colliding with blocks on a table. We found a 16% increase in accuracy with a 62% decrease in the time it took to complete the task compared to the next best system. This demonstrates that a mixed-reality HMD allows a human to more quickly and accurately tell where the robot is going to move than the compared baselines.

cs.RO↗

arXiv2012

Drug hypersensitivity caused by alteration of the MHC-presented self-peptide repertoire

Idiosyncratic adverse drug reactions are unpredictable, dose independent and potentially life threatening; this makes them a major factor contributing to the cost and uncertainty of drug development. Clinical data suggest that many such reactions involve immune mechanisms, and genetic association studies have identified strong linkage between drug hypersensitivity reactions to several drugs and specific HLA alleles. One of the strongest such genetic associations found has been for the antiviral drug abacavir, which causes severe adverse reactions exclusively in patients expressing the HLA molecular variant B*57:01. Abacavir adverse reactions were recently shown to be driven by drug-specific activation of cytokine-producing, cytotoxic CD8+ T cells that required HLA-B*57:01 molecules for their function. However, the mechanism by which abacavir induces this pathologic T cell response remains unclear. Here we show that abacavir can bind within the F-pocket of the peptide-binding groove of HLA-B*57:01 thereby altering its specificity. This supports a novel explanation for HLA-linked idiosyncratic adverse drug reactions; namely that drugs can alter the repertoire of self-peptides presented to T cells thus causing the equivalent of an alloreactive T cell response. Indeed, we identified specific self-peptides that are presented only in the presence of abacavir, and that were recognized by T cells of hypersensitive patients. The assays we have established can be applied to test additional compounds with suspected HLA linked hypersensitivities in vitro. Where successful, these assays could speed up the discovery and mechanistic understanding of HLA linked hypersensitivities as well as guide the development of safer drugs.

q-bio.CB↗