{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,22]],"date-time":"2025-12-22T14:54:56Z","timestamp":1766415296169,"version":"3.48.0"},"reference-count":47,"publisher":"Association for Computing Machinery (ACM)","issue":"2","funder":[{"name":"National Science Foundation","award":["ECCS 2024649"],"award-info":[{"award-number":["ECCS 2024649"]}]},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"crossref","award":["N00014-22-1-2813"],"award-info":[{"award-number":["N00014-22-1-2813"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2026,3,31]]},"abstract":"<jats:p>Our goal is to model and experimentally assess trust evolution to predict future beliefs and behaviors of human\u2013robot teams in dynamic environments. Research suggests that maintaining an appropriate level of trust among team members in a human\u2013robot team is vital for team success. Indeed, research suggests that trust is a multidimensional and latent entity that relates to past experiences and future actions in a complex manner. Employing a human\u2013robot collaborative task, we model human behavior using Input\u2013Output Hidden Markov Model (IOHMM) and design an optimal assistance-seeking strategy for the robot using a Partially Observable Markov Decision Process (POMDP) framework. In this task, the human partner supervises an autonomous mobile manipulator collecting objects in an environment. The supervisor\u2019s responsibility is to ensure that the robot safely executes its task. The robot can either choose to attempt to autonomously collect the object or seek human assistance. The human supervisor actively monitors the robot\u2019s activities, offering assistance upon request, and intervening if they perceive that the robot may fail. In this setting, human trust is the hidden state, and the primary objective is to optimize team performance. We conduct two sets of human\u2013robot interaction experiments. The data from the first experiment are used to estimate POMDP parameters, which are used to compute an optimal assistance-seeking policy evaluated in the second experiment. The estimated POMDP parameters reveal that, for most participants, human intervention is more probable when trust is low, particularly in high-complexity tasks. Notably, our estimates suggest that the robot\u2019s action of asking for human assistance in high-complexity tasks can positively impact human trust. Our experimental results show that the proposed trust-aware policy results in a better performance as compared to an optimal trust-agnostic policy. By comparing model estimates of human trust, obtained using only behavioral data, with the collected self-reported trust values, we show that model estimates are isomorphic to self-reported responses.<\/jats:p>","DOI":"10.1145\/3773900","type":"journal-article","created":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T14:06:03Z","timestamp":1761746763000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["When to Seek Help: Trust-Aware Assistance-Seeking in Human-Supervised Autonomy"],"prefix":"10.1145","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-0936-2174","authenticated-orcid":false,"given":"Dong Hae","family":"Mangalindan","sequence":"first","affiliation":[{"name":"Michigan State University, East Lansing, Michigan, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4820-5828","authenticated-orcid":false,"given":"Ericka","family":"Rovira","sequence":"additional","affiliation":[{"name":"Department of Behavioral Sciences and Leadership, US Military Academy, West Point, New York, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9786-0159","authenticated-orcid":false,"given":"Vaibhav","family":"Srivastava","sequence":"additional","affiliation":[{"name":"Michigan State University, East Lansing, Michigan, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2025,12,22]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","unstructured":"K. Akash W.-L. Hu T. Reid and N. Jain. 2017. Dynamic modeling of trust in human-machine interactions. In 2017 American Control Conference (ACC) 1542\u20131548.","DOI":"10.23919\/ACC.2017.7963172"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1145\/3382507.3418885"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2020.3019151"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-020-00694-1"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1145\/3181671"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/72.536317"},{"key":"e_1_3_2_8_2","first-page":"1","volume-title":"2025 IEEE International Conference on Robotics and Automation (ICRA \u201925)","author":"Boguslavskii N.","year":"2025","unstructured":"N. Boguslavskii, L. M. Genua, and Z. Li. 2025. Human-robot collaboration for the remote control of mobile humanoid robots with torso-arm coordination. In 2025 IEEE International Conference on Robotics and Automation (ICRA \u201925), 1\u20137."},{"key":"e_1_3_2_9_2","first-page":"23","volume-title":"2020 ACM\/IEEE International Conference on Human-Robot Interaction (HRI \u201920)","author":"Bridgwater T.","year":"2020","unstructured":"T. Bridgwater, M. Giuliani, A. van Maris, G. Baker, A. Winfield, and T. Pipe. 2020. Examining profiles for robotic risk assessment: Does a robot\u2019s approach to risk affect user trust? In 2020 ACM\/IEEE International Conference on Human-Robot Interaction (HRI \u201920), 23\u201331."},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1145\/3359616"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2013.6483596"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811809"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2022.3144956"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2023.111388"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1177\/0018720811417254"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1177\/0018720814547570"},{"key":"e_1_3_2_17_2","doi-asserted-by":"crossref","unstructured":"C. M. Jonker and J. Treur. 1999. Formal analysis of models for the dynamics of trust based on experiences. In 9th European Workshop on Multi-Agent System Engineering (MAAMAW \u201999) 221\u2013231.","DOI":"10.1007\/3-540-48437-X_18"},{"key":"e_1_3_2_18_2","doi-asserted-by":"crossref","unstructured":"N. Koenig and A. Howard. 2004. Design and use paradigms for gazebo an open-source multi-robot simulator. In 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS \u201904) 2149\u20132154.","DOI":"10.1109\/IROS.2004.1389727"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9781316471104"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1080\/00140139208967392"},{"issue":"1","key":"e_1_3_2_21_2","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1518\/hfes.46.1.50.30392","article-title":"Trust in technology: Designing for appropriate reliance","volume":"46","author":"Lee J.","year":"2004","unstructured":"J. Lee and K. See. 2004. Trust in technology: Designing for appropriate reliance. Human Factors 46, 1 (2004), 50\u201380.","journal-title":"Human Factors"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1006\/ijhc.1994.1007"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2024.102730"},{"key":"e_1_3_2_24_2","first-page":"1","volume-title":"2025 IEEE International Conference on Robotics and Automation (ICRA)","author":"Mangalindan D. H.","year":"2025","unstructured":"D. H. Mangalindan, K. Kandikonda, E. Rovira and V. Srivastava. 2025. Modeling trust dynamics in robot-assisted delivery: Impact of trust repair strategies. In 2025 IEEE International Conference on Robotics and Automation (ICRA), 1\u20136."},{"key":"e_1_3_2_25_2","doi-asserted-by":"crossref","first-page":"3901","DOI":"10.23919\/ACC55779.2023.10156103","volume-title":"2023 American Control Conference (ACC)","author":"Mangalindan D. H.","year":"2023","unstructured":"D. H. Mangalindan, E. Rovira and V. Srivastava. 2023. On trust-aware assistance-seeking in human-supervised autonomy. In 2023 American Control Conference (ACC), 3901\u20133906."},{"key":"e_1_3_2_26_2","doi-asserted-by":"crossref","unstructured":"D. H. Mangalindan and V. Srivastava. 2024. Assistance-seeking in human-supervised autonomy: Role of trust and secondary task engagement. In 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN) 951\u2013956.","DOI":"10.1109\/RO-MAN60168.2024.10731300"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1177\/1555343411433844"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.2307\/258792"},{"key":"e_1_3_2_29_2","volume-title":"Operators\u2019 trust in and use of automatic controllers in a supervisory process control task","author":"M B.","year":"1989","unstructured":"B. M. Muir. 1989. Operators\u2019 trust in and use of automatic controllers in a supervisory process control task. PhD thesis. University of Toronto."},{"key":"e_1_3_2_30_2","volume-title":"Probabilistic Machine Learning: Advanced Topics","author":"P K.","year":"2023","unstructured":"K. P. Murphy. 2023. Probabilistic Machine Learning: Advanced Topics. MIT Press."},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2017.09.017"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1518\/001872097778543886"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2015.2471056"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2018.07.007"},{"key":"e_1_3_2_35_2","volume-title":"ROS Robotics Projects: Build and Control Robots Powered by the Robot Operating System, Machine Learning, and Virtual Reality","author":"Ramkumar","year":"2019","unstructured":"G. Ramkumar and, J. Lentin . 2019. ROS Robotics Projects: Build and Control Robots Powered by the Robot Operating System, Machine Learning, and Virtual Reality (2nd ed.). Packt Publishing.","edition":"2"},{"key":"e_1_3_2_36_2","volume-title":"Model Predictive Control: Theory, Computation, and Design","author":"B J.","year":"2017","unstructured":"J. B. Rawlings, D. Q. Mayne, and, M. Diehl . 2017. Model Predictive Control: Theory, Computation, and Design (2nd ed.). Nob Hill Publishing, Madison, WI.","edition":"2"},{"key":"e_1_3_2_37_2","first-page":"141","volume-title":"10th Annual ACM\/IEEE International Conference on Human-Robot Interaction (HRI \u201915)","author":"Salem M.","year":"2015","unstructured":"M. Salem, G. Lakatos, F. Amirabdollahian, and K. Dautenhahn. 2015. Would you trust a (faulty) robot? effects of error, task type and personality on human-robot cooperation and trust. In 10th Annual ACM\/IEEE International Conference on Human-Robot Interaction (HRI \u201915), 141\u2013148."},{"key":"e_1_3_2_38_2","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1007\/978-1-4899-7668-0_10","volume-title":"Robust Intelligence and Trust in Autonomous Systems","author":"Schaefer K. E.","year":"2016","unstructured":"K. E. Schaefer. 2016. Measuring trust in human robot interactions: Development of the \u201ctrust perception scale-HRI.\u201d In Robust Intelligence and Trust in Autonomous Systems, Ronald Mittu, Donald Sofge, Alan Wagner, and William Lawless (Eds.), Springer, 191\u2013218."},{"key":"e_1_3_2_39_2","first-page":"25","volume-title":"3rd ACM\/IEEE International Conference on Human robot interaction (HRI \u201908)","author":"Takayama L.","year":"2008","unstructured":"L. Takayama, W. Ju, and C. Nass. 2008. Beyond dirty, dangerous and dull: What everyday people think robots should do. In 3rd ACM\/IEEE International Conference on Human robot interaction (HRI \u201908), 25\u201332."},{"key":"e_1_3_2_40_2","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1109\/ROMAN.2011.6005228","volume-title":"2011 RO-MAN","author":"Wagner A. R.","year":"2011","unstructured":"A. R. Wagner and R. C. Arkin. 2011. Recognizing situations that demand trust. In 2011 RO-MAN, 7\u201314."},{"key":"e_1_3_2_41_2","first-page":"109","volume-title":"The 11th ACM\/IEEE International Conference on Human Robot Interaction (HRI \u201916)","author":"Wang N.","year":"2016","unstructured":"N. Wang, D. V. Pynadath, and S. G. Hill. 2016. Trust calibration within a human-robot team: Comparing automatically generated explanations. In The 11th ACM\/IEEE International Conference on Human Robot Interaction (HRI \u201916), 109\u2013116."},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1080\/23335777.2015.1056755"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/OJCSYS.2023.3345090"},{"key":"e_1_3_2_44_2","first-page":"115","volume-title":"Cooperative Robots and Sensor Networks","author":"Wang","year":"2014","unstructured":"Y. Wang, Z. Shi, C. Wang, and, F.Zhang. 2014. Human-robot mutual trust in (semi)autonomous underwater robots. In Cooperative Robots and Sensor Networks, A. Koubaa and A. Khelil (Eds.), Springer, Berlin, 115\u2013137."},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1145\/3594715"},{"key":"e_1_3_2_46_2","first-page":"221","volume-title":"10th Annual ACM\/IEEE International Conference on Human-Robot Interaction (HRI \u201915)","author":"Xu A.","year":"2015","unstructured":"A. Xu and G. Dudek. 2015. OPTImo: Online probabilistic trust inference model for asymmetric human-robot collaborations. In 10th Annual ACM\/IEEE International Conference on Human-Robot Interaction (HRI \u201915), 221\u2013228."},{"key":"e_1_3_2_47_2","first-page":"408","volume-title":"ACM\/IEEE International Conference on Human-Robot Interaction","author":"Yang X. J.","year":"2017","unstructured":"X. J. Yang, V. V. Unhelkar, K. Li, and J. A. Shah. 2017. Evaluating effects of user experience and system transparency on trust in automation. In ACM\/IEEE International Conference on Human-Robot Interaction, 408\u2013416."},{"key":"e_1_3_2_48_2","first-page":"281","volume-title":"ACM\/IEEE International Conference on Human-Robot Interaction","author":"Zahedi Z.","year":"2023","unstructured":"Z. Zahedi, M. Verma, S. Sreedharan, and S. Kambhampati. 2023. Trust-aware planning: Modeling trust evolution in iterated human-robot interaction. In ACM\/IEEE International Conference on Human-Robot Interaction, 281\u2013289."}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3773900","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,22]],"date-time":"2025-12-22T14:46:24Z","timestamp":1766414784000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3773900"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,22]]},"references-count":47,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2026,3,31]]}},"alternative-id":["10.1145\/3773900"],"URL":"https:\/\/doi.org\/10.1145\/3773900","relation":{},"ISSN":["2573-9522"],"issn-type":[{"type":"electronic","value":"2573-9522"}],"subject":[],"published":{"date-parts":[[2025,12,22]]},"assertion":[{"value":"2024-10-11","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-10-10","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-12-22","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}