Zahedi, Zahra, authorVerma, Mudit, authorSreedharan, Sarath, authorKambhampati, Subbarao, authorACM, publisher2024-11-112024-11-112023-03-13Zahra Zahedi, Mudit Verma, Sarath Sreedharan, and Subbarao Kambhampati. 2023. Trust-Aware Planning: Modeling Trust Evolution in Iterated Human-Robot Interaction. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI '23), March 13–16, 2023, Stockholm, Sweden. ACM, New York, NY, USA, 9 pages. https://doi.org/10. 1145/3568162.3578628https://hdl.handle.net/10217/239530Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully participate in the task but to ensure the team achieves its goals. The problem of trust management is particularly challenging in mixed human-robot teams where the human and the robot may have diferent models about the task at hand and thus may have diferent expectations regarding the current course of action, thereby forcing the robot to focus on the costly explicable behavior.We propose a computational model for capturing and modulating trust in such iterated human-robot interaction settings, where the human adopts a supervisory role. In our model, the robot integrates human's trust and their expectations about the robot into its planning process to build and maintain trust over the interaction horizon. By establishing the required level of trust, the robot can focus on maximizing the team goal by eschewing explicit explanatory or explicable behavior without worrying about the human supervisor monitoring and intervening to stop behaviors they may not necessarily understand. We model this reasoning about trust levels as a meta reasoning process over individual planning tasks. We additionally validate our model through a human subject experiment.born digitalarticleseng©Zahra Zahedi, et al. ACM 2023. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in HRI '23, https://dx.doi.org/10.1145/3568162.3578628.trustable AItrust-aware decision-makingexplainable AIexplicable planningTexthttps://doi.org/10. 1145/3568162.3578628