HIMO: Logic-Based Hierarchical Intent Monitoring for Mobile Robots

HIMO is a framework that uses temporal logic specifications to infer the unknown intent of a robotic agent through passive observations of its actions over time.

Intent monitoring can be key to enabling a human-robot collaboration. If the robot is aware of that chef’s intent is to repeatedly bring a pot, water, meat, in order, and then go to the cooktop, it can help the chef by bringing meats while he is going to get some water, or can avoid collisions predicting their future positions.

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Installation

On your local computer

git clone [email protected]:cuplv/HIMO_intent.git
cd HIMO_intent
docker build . -t himo

To run

docker run -it --rm -p 8888:8888 -v $PWD/.:/root/HIMO_intent himo

Inside the container

cd /root/HIMO_intent
jupyter notebook --ip 0.0.0.0 --port 8888 --no-browser --allow-root

You can test HIMO

Test HIMO on following two environments:

• a random environment in High-level-monitor.ipynb
• a THÖR dataset in thor_test.ipynb.

THÖR Dataset

For more details about THÖR Dataset, see http://thor.oru.se/.