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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.

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/.