A Unified Framework for Robots that Influence Humans over Long-Term Interaction Article Swipe

PDF

Shahabedin Sagheb , Sagar Parekh , Ravi Pandya , Ye-Ji Mun , Katherine Driggs-Campbell , Andrea Bajcsy , Dylan P. Losey ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2503.14633

Robot actions influence the decisions of nearby humans. Here influence refers to intentional change: robots influence humans when they shift the human's behavior in a way that helps the robot complete its task. Imagine an autonomous car trying to merge; by proactively nudging into the human's lane, the robot causes human drivers to yield and provide space. Influence is often necessary for seamless interaction. However, if influence is left unregulated and uncontrolled, robots will negatively impact the humans around them. Prior works have begun to address this problem by creating a variety of control algorithms that seek to influence humans. Although these methods are effective in the short-term, they fail to maintain influence over time as the human adapts to the robot's behaviors. In this paper we therefore present an optimization framework that enables robots to purposely regulate their influence over humans across both short-term and long-term interactions. Here the robot maintains its influence by reasoning over a dynamic human model which captures how the robot's current choices will impact the human's future behavior. Our resulting framework serves to unify current approaches: we demonstrate that state-of-the-art methods are simplifications of our underlying formalism. Our framework also provides a principled way to generate influential policies: in the best case the robot exactly solves our framework to find optimal, influential behavior. But when solving this optimization problem becomes impractical, designers can introduce their own simplifications to reach tractable approximations. We experimentally compare our unified framework to state-of-the-art baselines and ablations, and demonstrate across simulations and user studies that this framework is able to successfully influence humans over repeated interactions. See videos of our experiments here: https://youtu.be/nPekTUfUEbo

Related Topics

Love, Death & Robots

Robots (2005 Film)

Aew Unified Championship

Unified Combatant Command

National Institutional Ranking Framework

The Myth Of The Framework

Cynefin Framework

Django (Web Framework)

Iran Nuclear Deal Framework

United Nations Framework Convention On Climate Change

List Of Fictional Robots And Androids

Bootstrap (Front-End Framework)

Concepts

No concepts available.

Metadata

Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2503.14633
PDF: https://arxiv.org/pdf/2503.14633
OA Status: green
OpenAlex ID: https://openalex.org/W4414901209

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W4414901209

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.48550/arxiv.2503.14633

Digital Object Identifier
Title: A Unified Framework for Robots that Influence Humans over Long-Term Interaction

Work title
Type: preprint

OpenAlex work type
Language: en

Primary language
Publication year: 2025

Year of publication
Publication date: 2025-03-18

Full publication date if available
Authors: Shahabedin Sagheb, Sagar Parekh, Ravi Pandya, Ye-Ji Mun, Katherine Driggs-Campbell, Andrea Bajcsy, Dylan P. Losey

List of authors in order
Landing page: https://arxiv.org/abs/2503.14633

Publisher landing page
PDF URL: https://arxiv.org/pdf/2503.14633

Direct link to full text PDF
Open access: Yes

Whether a free full text is available
OA status: green

Open access status per OpenAlex
OA URL: https://arxiv.org/pdf/2503.14633

Direct OA link when available
Cited by: 0

Total citation count in OpenAlex

Full payload

id	https://openalex.org/W4414901209
doi	https://doi.org/10.48550/arxiv.2503.14633
ids.doi	https://doi.org/10.48550/arxiv.2503.14633
ids.openalex	https://openalex.org/W4414901209
fwci
type	preprint
title	A Unified Framework for Robots that Influence Humans over Long-Term Interaction
biblio.issue
biblio.volume
biblio.last_page
biblio.first_page
topics[0].id	https://openalex.org/T10709
topics[0].field.id	https://openalex.org/fields/32
topics[0].field.display_name	Psychology
topics[0].score	0.9631999731063843
topics[0].domain.id	https://openalex.org/domains/2
topics[0].domain.display_name	Social Sciences
topics[0].subfield.id	https://openalex.org/subfields/3207
topics[0].subfield.display_name	Social Psychology
topics[0].display_name	Social Robot Interaction and HRI
is_xpac	False
apc_list
apc_paid
language	en
locations[0].id	pmh:oai:arXiv.org:2503.14633
locations[0].is_oa	True
locations[0].source.id	https://openalex.org/S4306400194
locations[0].source.issn
locations[0].source.type	repository
locations[0].source.is_oa	True
locations[0].source.issn_l
locations[0].source.is_core	False
locations[0].source.is_in_doaj	False
locations[0].source.display_name	arXiv (Cornell University)
locations[0].source.host_organization	https://openalex.org/I205783295
locations[0].source.host_organization_name	Cornell University
locations[0].source.host_organization_lineage	https://openalex.org/I205783295
locations[0].license
locations[0].pdf_url	https://arxiv.org/pdf/2503.14633
locations[0].version	submittedVersion
locations[0].raw_type	text
locations[0].license_id
locations[0].is_accepted	False
locations[0].is_published	False
locations[0].raw_source_name
locations[0].landing_page_url	http://arxiv.org/abs/2503.14633
locations[1].id	doi:10.48550/arxiv.2503.14633
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306400194
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	True
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	arXiv (Cornell University)
locations[1].source.host_organization	https://openalex.org/I205783295
locations[1].source.host_organization_name	Cornell University
locations[1].source.host_organization_lineage	https://openalex.org/I205783295
locations[1].license	cc-by
locations[1].pdf_url
locations[1].version
locations[1].raw_type	article
locations[1].license_id	https://openalex.org/licenses/cc-by
locations[1].is_accepted	False
locations[1].is_published
locations[1].raw_source_name
locations[1].landing_page_url	https://doi.org/10.48550/arxiv.2503.14633
indexed_in	arxiv, datacite
authorships[0].author.id	https://openalex.org/A5088605286
authorships[0].author.orcid	https://orcid.org/0000-0003-3785-0319
authorships[0].author.display_name	Shahabedin Sagheb
authorships[0].author_position	first
authorships[0].raw_author_name	Sagheb, Shahabedin
authorships[0].is_corresponding	False
authorships[1].author.id	https://openalex.org/A5076906837
authorships[1].author.orcid	https://orcid.org/0000-0002-4163-6318
authorships[1].author.display_name	Sagar Parekh
authorships[1].author_position	middle
authorships[1].raw_author_name	Parekh, Sagar
authorships[1].is_corresponding	False
authorships[2].author.id	https://openalex.org/A5055091245
authorships[2].author.orcid	https://orcid.org/0000-0003-0258-4604
authorships[2].author.display_name	Ravi Pandya
authorships[2].author_position	middle
authorships[2].raw_author_name	Pandya, Ravi
authorships[2].is_corresponding	False
authorships[3].author.id	https://openalex.org/A5046147298
authorships[3].author.orcid
authorships[3].author.display_name	Ye-Ji Mun
authorships[3].author_position	middle
authorships[3].raw_author_name	Mun, Ye-Ji
authorships[3].is_corresponding	False
authorships[4].author.id	https://openalex.org/A5059066811
authorships[4].author.orcid	https://orcid.org/0000-0003-3760-9859
authorships[4].author.display_name	Katherine Driggs-Campbell
authorships[4].author_position	middle
authorships[4].raw_author_name	Driggs-Campbell, Katherine
authorships[4].is_corresponding	False
authorships[5].author.id	https://openalex.org/A5050279893
authorships[5].author.orcid	https://orcid.org/0000-0001-7969-9376
authorships[5].author.display_name	Andrea Bajcsy
authorships[5].author_position	middle
authorships[5].raw_author_name	Bajcsy, Andrea
authorships[5].is_corresponding	False
authorships[6].author.id	https://openalex.org/A5063608480
authorships[6].author.orcid	https://orcid.org/0000-0002-8787-5293
authorships[6].author.display_name	Dylan P. Losey
authorships[6].author_position	last
authorships[6].raw_author_name	Losey, Dylan P.
authorships[6].is_corresponding	False
has_content.pdf	False
has_content.grobid_xml	False
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://arxiv.org/pdf/2503.14633
open_access.oa_status	green
open_access.any_repository_has_fulltext	False
created_date	2025-10-10T00:00:00
display_name	A Unified Framework for Robots that Influence Humans over Long-Term Interaction
has_fulltext	False
is_retracted	False
updated_date	2025-11-06T06:51:31.235846
primary_topic.id	https://openalex.org/T10709
primary_topic.field.id	https://openalex.org/fields/32
primary_topic.field.display_name	Psychology
primary_topic.score	0.9631999731063843
primary_topic.domain.id	https://openalex.org/domains/2
primary_topic.domain.display_name	Social Sciences
primary_topic.subfield.id	https://openalex.org/subfields/3207
primary_topic.subfield.display_name	Social Psychology
primary_topic.display_name	Social Robot Interaction and HRI
cited_by_count	0
locations_count	2
best_oa_location.id	pmh:oai:arXiv.org:2503.14633
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4306400194
best_oa_location.source.issn
best_oa_location.source.type	repository
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l
best_oa_location.source.is_core	False
best_oa_location.source.is_in_doaj	False
best_oa_location.source.display_name	arXiv (Cornell University)
best_oa_location.source.host_organization	https://openalex.org/I205783295
best_oa_location.source.host_organization_name	Cornell University
best_oa_location.source.host_organization_lineage	https://openalex.org/I205783295
best_oa_location.license
best_oa_location.pdf_url	https://arxiv.org/pdf/2503.14633
best_oa_location.version	submittedVersion
best_oa_location.raw_type	text
best_oa_location.license_id
best_oa_location.is_accepted	False
best_oa_location.is_published	False
best_oa_location.raw_source_name
best_oa_location.landing_page_url	http://arxiv.org/abs/2503.14633
primary_location.id	pmh:oai:arXiv.org:2503.14633
primary_location.is_oa	True
primary_location.source.id	https://openalex.org/S4306400194
primary_location.source.issn
primary_location.source.type	repository
primary_location.source.is_oa	True
primary_location.source.issn_l
primary_location.source.is_core	False
primary_location.source.is_in_doaj	False
primary_location.source.display_name	arXiv (Cornell University)
primary_location.source.host_organization	https://openalex.org/I205783295
primary_location.source.host_organization_name	Cornell University
primary_location.source.host_organization_lineage	https://openalex.org/I205783295
primary_location.license
primary_location.pdf_url	https://arxiv.org/pdf/2503.14633
primary_location.version	submittedVersion
primary_location.raw_type	text
primary_location.license_id
primary_location.is_accepted	False
primary_location.is_published	False
primary_location.raw_source_name
primary_location.landing_page_url	http://arxiv.org/abs/2503.14633
publication_date	2025-03-18
publication_year	2025
referenced_works_count	0
abstract_inverted_index.a	24, 90, 157, 197
abstract_inverted_index.In	123
abstract_inverted_index.We	237
abstract_inverted_index.an	34, 129
abstract_inverted_index.as	115
abstract_inverted_index.by	40, 88, 154
abstract_inverted_index.if	65
abstract_inverted_index.in	23, 105, 204
abstract_inverted_index.is	58, 67, 258
abstract_inverted_index.of	5, 92, 189, 269
abstract_inverted_index.to	11, 38, 52, 84, 97, 110, 119, 135, 178, 200, 214, 233, 243, 260
abstract_inverted_index.we	126, 182
abstract_inverted_index.But	219
abstract_inverted_index.Our	174, 193
abstract_inverted_index.See	267
abstract_inverted_index.and	54, 70, 145, 246, 248, 252
abstract_inverted_index.are	103, 187
abstract_inverted_index.can	228
abstract_inverted_index.car	36
abstract_inverted_index.for	61
abstract_inverted_index.how	163
abstract_inverted_index.its	31, 152
abstract_inverted_index.our	190, 212, 240, 270
abstract_inverted_index.own	231
abstract_inverted_index.the	3, 20, 28, 44, 47, 76, 106, 116, 120, 149, 164, 170, 205, 208
abstract_inverted_index.way	25, 199
abstract_inverted_index.Here	8, 148
abstract_inverted_index.able	259
abstract_inverted_index.also	195
abstract_inverted_index.best	206
abstract_inverted_index.both	143
abstract_inverted_index.case	207
abstract_inverted_index.fail	109
abstract_inverted_index.find	215
abstract_inverted_index.have	82
abstract_inverted_index.into	43
abstract_inverted_index.left	68
abstract_inverted_index.over	113, 140, 156, 264
abstract_inverted_index.seek	96
abstract_inverted_index.that	26, 95, 132, 184, 255
abstract_inverted_index.they	18, 108
abstract_inverted_index.this	86, 124, 222, 256
abstract_inverted_index.time	114
abstract_inverted_index.user	253
abstract_inverted_index.when	17, 220
abstract_inverted_index.will	73, 168
abstract_inverted_index.Prior	80
abstract_inverted_index.Robot	0
abstract_inverted_index.begun	83
abstract_inverted_index.helps	27
abstract_inverted_index.here:	272
abstract_inverted_index.human	50, 117, 159
abstract_inverted_index.lane,	46
abstract_inverted_index.model	160
abstract_inverted_index.often	59
abstract_inverted_index.paper	125
abstract_inverted_index.reach	234
abstract_inverted_index.robot	29, 48, 150, 209
abstract_inverted_index.shift	19
abstract_inverted_index.task.	32
abstract_inverted_index.their	138, 230
abstract_inverted_index.them.	79
abstract_inverted_index.these	101
abstract_inverted_index.unify	179
abstract_inverted_index.which	161
abstract_inverted_index.works	81
abstract_inverted_index.yield	53
abstract_inverted_index.across	142, 250
abstract_inverted_index.adapts	118
abstract_inverted_index.around	78
abstract_inverted_index.causes	49
abstract_inverted_index.future	172
abstract_inverted_index.humans	16, 77, 141, 263
abstract_inverted_index.impact	75, 169
abstract_inverted_index.merge;	39
abstract_inverted_index.nearby	6
abstract_inverted_index.refers	10
abstract_inverted_index.robots	14, 72, 134
abstract_inverted_index.serves	177
abstract_inverted_index.solves	211
abstract_inverted_index.space.	56
abstract_inverted_index.trying	37
abstract_inverted_index.videos	268
abstract_inverted_index.Imagine	33
abstract_inverted_index.actions	1
abstract_inverted_index.address	85
abstract_inverted_index.becomes	225
abstract_inverted_index.change:	13
abstract_inverted_index.choices	167
abstract_inverted_index.compare	239
abstract_inverted_index.control	93
abstract_inverted_index.current	166, 180
abstract_inverted_index.drivers	51
abstract_inverted_index.dynamic	158
abstract_inverted_index.enables	133
abstract_inverted_index.exactly	210
abstract_inverted_index.human's	21, 45, 171
abstract_inverted_index.humans.	7, 99
abstract_inverted_index.methods	102, 186
abstract_inverted_index.nudging	42
abstract_inverted_index.present	128
abstract_inverted_index.problem	87, 224
abstract_inverted_index.provide	55
abstract_inverted_index.robot's	121, 165
abstract_inverted_index.solving	221
abstract_inverted_index.studies	254
abstract_inverted_index.unified	241
abstract_inverted_index.variety	91
abstract_inverted_index.Although	100
abstract_inverted_index.However,	64
abstract_inverted_index.behavior	22
abstract_inverted_index.captures	162
abstract_inverted_index.complete	30
abstract_inverted_index.creating	89
abstract_inverted_index.generate	201
abstract_inverted_index.maintain	111
abstract_inverted_index.optimal,	216
abstract_inverted_index.provides	196
abstract_inverted_index.regulate	137
abstract_inverted_index.repeated	265
abstract_inverted_index.seamless	62
abstract_inverted_index.Influence	57
abstract_inverted_index.baselines	245
abstract_inverted_index.behavior.	173, 218
abstract_inverted_index.decisions	4
abstract_inverted_index.designers	227
abstract_inverted_index.effective	104
abstract_inverted_index.framework	131, 176, 194, 213, 242, 257
abstract_inverted_index.influence	2, 9, 15, 66, 98, 112, 139, 153, 262
abstract_inverted_index.introduce	229
abstract_inverted_index.long-term	146
abstract_inverted_index.maintains	151
abstract_inverted_index.necessary	60
abstract_inverted_index.policies:	203
abstract_inverted_index.purposely	136
abstract_inverted_index.reasoning	155
abstract_inverted_index.resulting	175
abstract_inverted_index.therefore	127
abstract_inverted_index.tractable	235
abstract_inverted_index.ablations,	247
abstract_inverted_index.algorithms	94
abstract_inverted_index.autonomous	35
abstract_inverted_index.behaviors.	122
abstract_inverted_index.formalism.	192
abstract_inverted_index.negatively	74
abstract_inverted_index.principled	198
abstract_inverted_index.short-term	144
abstract_inverted_index.underlying	191
abstract_inverted_index.approaches:	181
abstract_inverted_index.demonstrate	183, 249
abstract_inverted_index.experiments	271
abstract_inverted_index.influential	202, 217
abstract_inverted_index.intentional	12
abstract_inverted_index.proactively	41
abstract_inverted_index.short-term,	107
abstract_inverted_index.simulations	251
abstract_inverted_index.unregulated	69
abstract_inverted_index.impractical,	226
abstract_inverted_index.interaction.	63
abstract_inverted_index.optimization	130, 223
abstract_inverted_index.successfully	261
abstract_inverted_index.interactions.	147, 266
abstract_inverted_index.uncontrolled,	71
abstract_inverted_index.experimentally	238
abstract_inverted_index.approximations.	236
abstract_inverted_index.simplifications	188, 232
abstract_inverted_index.state-of-the-art	185, 244
abstract_inverted_index.https://youtu.be/nPekTUfUEbo	273
cited_by_percentile_year
countries_distinct_count	0
institutions_distinct_count	7
citation_normalized_percentile