Hello world! You've reached the homepage of Tathagata Chakraborti. I am a Ph.D. student in Dr. Subbarao Kambhampati's research group Yochan at Arizona State University. My research is in the field of Artificial Intelligence, particularly in task planning with humans in the loop - e.g. challenges involved in planning for human-robot cohabitation and collaboration.

Research Interests
  • Task Planning with Humans in the Loop. Generation of explanations and explicable task plans - Human-aware planning for human-robot cohabitation and teaming - Multi-agent interaction without prior coordination - Planning for proactive decision support & crowdsourced planning.
  • Alternative modes of communication between humans and robots. Augmented Reality as a shared vocabulary or language for interactive plan execution - EEG feedback for mental modelling and affective robotics - Alternative forms of communication other than natural language.

Publications

Plan Explanations as Model Reconciliation: Moving Beyond Explanation as Soliloquy. Tathagata Chakraborti, Sarath Sreedharan, Yu Zhang, Subbarao Kambhampati. IJCAI 2017. Plan Explicability and Predictability for Robot Task Planning. Yu Zhang, Sarath Sreedharan, Anagha Kulkarni, Tathagata Chakraborti, Hankz Hankui Zhuo, Subbarao Kambhampati. ICRA 2017. UbuntuWorld 1.0 LTS - A Platform for Automated Problem Solving & Troubleshooting in the Ubuntu OS. Tathagata Chakraborti, Kartik Talamadupula, Kshitij P. Fadnis, Murray Campbell, Subbarao Kambhampati. AAAI/IAAI, 2017. Compliant Conditions for Polynomial Time Approximation of Operator Counts. Tathagata Chakraborti, Sarath Sreedharan, Sailik Sengupta, T. K. Satish Kumar, Subbarao Kambhampati. Symposium on Combinatorial Search (SOCS), 2016. Planning with Resource Conflicts in Human-Robot Cohabitation. Tathagata Chakraborti, Yu Zhang, Subbarao Kambhampati. AAMAS 2016. Planning for Serendipity. Tathagata Chakraborti, Gordon Briggs, Kartik Talamadupula, Yu Zhang, Matthias Scheutz, David Smith, Subbarao Kambhampati. IROS 2015. A Human Factors Analysis of Proactive Assistance in Human-robot Teaming. Yu Zhang, Vignesh Narayanan, Tathagata Chakraborti, Subbarao Kambhampati. IROS 2015. Coordination in Human-Robot Teams Using Mental Modeling and Plan Recognition. Kartik Talamadupula, Gordon Briggs, Tathagata Chakraborti, Matthias Scheutz, Subbarao Kambhampati. IROS 2014. AI-MIX: Using Automated Planning to Steer Human Workers Towards Better Crowdsourced Plans. Lydia Manikonda, Tathagata Chakraborti, Sushovan De, Kartik Talamadupula, Subbarao Kambhampati. AAAI/IAAI 2014.
Alternative Modes of Interaction in Proximal Human-in-the-Loop Operation of Robots. Tathagata Chakraborti, Sarath Sreedharan, Anagha Kulkarni, Subbarao Kambhampati. ICAPS 2017 Workshop on User Interfaces and Scheduling and Planning; and ICAPS 2017 System Demonstrations and Exhibits. RADAR - A Proactive Decision Support System for Human-in-the-Loop Planning. Sailik Sengupta, Tathagata Chakraborti, Sarath Sreedharan, Satya Gautam Vadlamudi, Subbarao Kambhampati. ICAPS 2017 Workshop on User Interfaces and Scheduling and Planning; and ICAPS 2017 System Demonstrations and Exhibits. Plan explicability for robot task planning. Yu Zhang, Sarath Sreedharan, Anagha Kulkarni, Tathagata Chakraborti, Hankz Hankui Zhuo and Subbarao Kambhampati RSS 2016 Workshop on Planning for Human-Robot Interaction. A Formal Framework for Studying Interaction in Human-Robot Societies. Tathagata Chakraborti, Kartik Talamadupula, Yu Zhang, Subbarao Kambhampati AAAI 2016 Workshop on Symbiotic Cognitive Systems. A Game Theoretic Approach to Ad-hoc Coalitions in Human-Robot Societies. Tathagata Chakraborti, Venkata Vamsikrishna Meduri, Vivek Dondeti, Subbarao Kambhampati. AAAI 2016 Workshop on Multiagent Interaction without Prior Coordination. Planning with Stochastic Resource Profiles: An Application to Human-Robot Co-habitation. Tathagata Chakraborti, Yu Zhang, David Smith, Subbarao Kambhampati. ICAPS 2015 Workshop on Planning and Robotics. Planning for Serendipity - Altruism in Human-Robot Cohabitation. Tathagata Chakraborti, Gordon Briggs, Kartik Talamadupula, Matthias Scheutz, David Smith, Subbarao Kambhampati. ICAPS 2015 Workshop on Planning and Robotics. AI-MIX: Using Automated Planning to Steer Human Workers Towards Better Crowdsourced Plans. Lydia Manikonda, Tathagata Chakraborti, Sushovan De, Kartik Talamadupula and Subbarao Kambhampati. ICAPS 2014 SPARK. Winner of the "People's Choice Award" in ICAPS 2014 System Demonstrations and Exhibits.

Projects

Alternative Modes of Communication Between Humans and Robots

2016 - Present

In this project we explore how we can do better than natural language for communicating with robots in structured environments like the next generation manufacturing scene where wearables such as augmented reality devices and EEG headsets can enable alternative and more effective modes of information sharing and interaction.

The Augmented Workspace

Here the robot uses a holographic vocabulary based on the projection of explicit visual cues that they can be intuitively understood and directly read by the human in the loop. The “real” shared human-robot workspace is now thus augmented with the virtual space where the physical environment is used as a medium to convey information about the intended actions of the robot, the safety of the workspace, or task-related instructions.

The Consciousness Cloud

This provides the robots real-time access to the mental state of humans in the workspace using which they are able to query about particulars (e.g. stress levels) of the affective states, or receive specific alerts related to the human’s response to events (e.g. oddball incidents like safety hazards and corresponding ERP spikes) in the environment.

As opposed to peer-to-peer information sharing, our cloud-based approach - where all the agents log their and access each other's real/virtual/mental states onto a central server - provides a distinct advantage towards making the system scalable to multiple agents, both humans and robots, sharing and collaborating in the same workspace.


Planning with Humans in the Loop

2014 - Present

The design of autonomy cannot be without consideration of interactions with humans - in case of planning with humans in the loop this spawns a plethora of research challenges. The core challenge here is the planner must not only reason with its own model but also the human's perception of it - we refer to this as the Multi-Model Planning setting.

Plan Explicabiltiy & Explanations

Here we investigate how a planner, in light of such model differences, can produce a plan that is explicable to a human observer, as well as techniques to produce explanations of a plan if required. We call this process model-reconciliation, where with repeated interactions the planner brings the human's mental model of itself closer to the ground truth.

Proactive Decistion Support & Crowdsourced Planning

Here we show how automated planning technology can be used to aid human planners involved in computational tasks that involve planning, such as while making response strategies as a team of experts to disasters or while, as part of a crowd, making travel plans to requests on Amazon Mechanical Turk.


Humans-Robot Cohabitation and Teaming

2014 - Present

As robots become ubiquitous in our daily lives and in traditional human workflows, they will cohabit workspaces with humans without forming explicit teams, i.e. lack of shared goals and communication. In this line of work, I identify challenges for human-aware task planning that arise in such settings, as opposed to in traditional notions of human-robot teaming, and investigate algorithms for stigmergic forms of collaboration - e.g. planning with resource conflicts, planning for serendipity and proactive support. Key challenges here involve modeling the human's belief state, predicting how the environment will evolve, robust and efficient representation of data, and developing planners that can model and reason with such complex interaction constraints.