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While there are existing techniques enabling robots to adapt to human behavior, there is a demonstrated need for methods that explicitly improve humans\u2019 ability to understand and predict robot behavior at multi-task timescales. In this work, we propose a method leveraging the innate human propensity for pattern recognition in order to improve team dynamics in human\u2013robot teams and to make robots more predictable to the humans that work with them. Patterns are a cognitive tool that humans use and rely on often, and the human brain is in many ways primed for pattern recognition and usage. We propose pattern-aware convention-setting for teaming (PACT), an entropy-based algorithm that identifies and imposes appropriate patterns over a robot\u2019s planner or policy over long time horizons. These patterns are autonomously generated and chosen via an algorithmic process that considers human-perceptible features and characteristics derived from the tasks to be completed, and as such, produces behavior that is easier for humans to identify and predict. Our evaluation shows that PACT contributes to significant improvements in team dynamics and teammate perceptions of the robot, as compared to robots that utilize traditionally \u2018optimal\u2019 plans and robots utilizing unoptimized patterns.<\/jats:p>","DOI":"10.1145\/3659061","type":"journal-article","created":{"date-parts":[[2024,7,1]],"date-time":"2024-07-01T14:41:18Z","timestamp":1719844878000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Generating Pattern-Based Conventions for Predictable Planning in Human\u2013Robot Collaboration"],"prefix":"10.1145","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-7579-8502","authenticated-orcid":false,"given":"Clare","family":"Lohrmann","sequence":"first","affiliation":[{"name":"University of Colorado Boulder, Boulder, CO, USA"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-5052-0178","authenticated-orcid":false,"given":"Maria","family":"Stull","sequence":"additional","affiliation":[{"name":"University of Colorado Boulder, Boulder, CO, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7385-1875","authenticated-orcid":false,"given":"Alessandro","family":"Roncone","sequence":"additional","affiliation":[{"name":"University of Colorado Boulder, Boulder, CO, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0723-1085","authenticated-orcid":false,"given":"Bradley","family":"Hayes","sequence":"additional","affiliation":[{"name":"University of Colorado Boulder, Boulder, CO, USA"}]}],"member":"320","published-online":{"date-parts":[[2024,10,16]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/tl.113"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-013-9237-x"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/PICMET.2009.5262123"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-022-00894-x"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI53351.2022.9889398"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020208"},{"key":"e_1_3_2_8_2","volume-title":"On the Utility of Learning about Humans for Human-AI Coordination","author":"Carroll Micah","year":"2019","unstructured":"Micah Carroll, Rohin Shah, Mark K. 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