Hierarchical Expertise-Level Modeling for User Specific Robot-Behavior Explanations

In this work, we present a new planning formalism called Expectation-Aware planning for decision making with humans in the loop where the human's expectations about an agent may differ from the agent's own model. We show how this formulation allows agents to not only leverage existing strategies for handling model differences like explanations (Chakraborti et al. 2017) and explicability (Kulkarni et al. 2019), but can also exhibit novel behaviors that are generated through the combination of these different strategies. Our formulation also reveals a deep connection to existing approaches in epistemic planning. Specifically, we show how we can leverage classical planning compilations for epistemic planning to solve Expectation-Aware planning problems. To the best of our knowledge, the proposed formulation is the first complete solution to planning with diverging user expectations that is amenable to a classical planning compilation while successfully combining previous works on explanation and explicability. We empirically show how our approach provides a computational advantage over our earlier approaches that rely on search in the space of models.