{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T12:44:48Z","timestamp":1778071488293,"version":"3.51.4"},"reference-count":47,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2015,11,16]],"date-time":"2015-11-16T00:00:00Z","timestamp":1447632000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2015,12]]},"abstract":"<jats:p>We design and evaluate a method of human\u2013robot cross-training, a validated and widely used strategy for the effective training of human teams. Cross-training is an interactive planning method in which team members iteratively switch roles with one another to learn a shared plan for the performance of a collaborative task.<\/jats:p>\n                  <jats:p>We first present a computational formulation of the robot mental model, which encodes the sequence of robot actions necessary for task completion and the expectations of the robot for preferred human actions, and show that the robot model is quantitatively comparable to the mental model that captures the inter-role knowledge held by the human. Additionally, we propose a quantitative measure of robot mental model convergence and an objective metric of model similarity. Based on this encoding, we formulate a human\u2013robot cross-training method and evaluate its efficacy through experiments involving human subjects [Formula: see text]. We compare human\u2013robot cross-training to standard reinforcement learning techniques, and show that cross-training yields statistically significant improvements in quantitative team performance measures, as well as significant differences in perceived robot performance and human trust. Finally, we discuss the objective measure of robot mental model convergence as a method to dynamically assess human errors. This study supports the hypothesis that the effective and fluent teaming of a human and a robot may best be achieved by modeling known, effective human teamwork practices.<\/jats:p>","DOI":"10.1177\/0278364915609673","type":"journal-article","created":{"date-parts":[[2015,11,17]],"date-time":"2015-11-17T20:18:23Z","timestamp":1447791503000},"page":"1711-1730","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":81,"title":["Improved human\u2013robot team performance through cross-training, an approach inspired by human team training practices"],"prefix":"10.1177","volume":"34","author":[{"given":"Stefanos","family":"Nikolaidis","sequence":"first","affiliation":[{"name":"Department of Aeronautics and Astronautics, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, MA, USA"}]},{"given":"Przemyslaw","family":"Lasota","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, MA, USA"}]},{"given":"Ramya","family":"Ramakrishnan","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, MA, USA"}]},{"given":"Julie","family":"Shah","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, MA, USA"}]}],"member":"179","published-online":{"date-parts":[[2015,11,16]]},"reference":[{"key":"bibr1-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/1015330.1015430"},{"key":"bibr2-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/2157689.2157815"},{"key":"bibr3-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1016\/j.cirp.2010.03.043"},{"key":"bibr4-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"bibr5-0278364915609673","first-page":"12","volume-title":"Proceedings of the fourteenth international conference on machine learning","author":"Atkeson CG","year":"1997"},{"key":"bibr6-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.01.007"},{"key":"bibr7-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1037\/10278-011"},{"key":"bibr8-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566597"},{"key":"bibr9-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1518\/001872098779480550"},{"key":"bibr10-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/1329125.1329407"},{"key":"bibr11-0278364915609673","first-page":"1183","volume-title":"Proceedings of the 7th international joint conference on autonomous agents and multiagent systems","author":"Chernova S","year":"2008"},{"key":"bibr12-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1002\/pfi.4150250806"},{"key":"bibr13-0278364915609673","first-page":"185","volume-title":"International symposium on intelligent robotics systems","author":"Dillmann R","year":"1995"},{"key":"bibr14-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228726"},{"key":"bibr15-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1109\/18.243461"},{"key":"bibr16-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1177\/0018720810371689"},{"key":"bibr17-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1518\/001872007779598000"},{"key":"bibr18-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/1228716.1228718"},{"key":"bibr19-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(98)00023-X"},{"key":"bibr20-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1613\/jair.301"},{"key":"bibr21-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00168-9"},{"key":"bibr22-0278364915609673","volume-title":"Learning from human-generated reward","author":"Knox WB","year":"2012"},{"key":"bibr23-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/1597735.1597738"},{"key":"bibr24-0278364915609673","volume-title":"Proceedings of the 9th international conference on autonomous agents and multiagent systems (AAMAS 2010)","author":"Knox WB","year":"2010"},{"key":"bibr25-0278364915609673","volume-title":"Proceedings of the 11th international conference on autonomous agents and multiagent systems (AAMAS)","author":"Knox WB","year":"2012"},{"key":"bibr26-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/2449396.2449422"},{"key":"bibr27-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1109\/70.338535"},{"key":"bibr28-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1518\/001872000779656534"},{"key":"bibr29-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1037\/0021-9010.85.6.971"},{"key":"bibr30-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1037\/0021-9010.87.1.3"},{"key":"bibr31-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1002\/job.296"},{"key":"bibr32-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1037\/0021-9010.85.2.273"},{"key":"bibr33-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-23232-9_21"},{"key":"bibr34-0278364915609673","volume-title":"Applied Linear Statistical Models","volume":"4","author":"Neter J","year":"1996"},{"key":"bibr35-0278364915609673","first-page":"663","volume-title":"Proceedings of the 17th international conference on machine learning","author":"Ng AY","year":"2000"},{"key":"bibr36-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/860575.860614"},{"key":"bibr37-0278364915609673","author":"Nikolaidis S","year":"2012","journal-title":"AIAA Infotech@Aerospace"},{"key":"bibr38-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152707"},{"key":"bibr39-0278364915609673","volume-title":"Artificial Intelligence: A Modern Approach","author":"Russell SJ","year":"2003"},{"key":"bibr40-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-9280.1992.tb00029.x"},{"key":"bibr41-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1145\/1957656.1957668"},{"key":"bibr42-0278364915609673","volume-title":"Reinforcement Learning: An Introduction","author":"Sutton RS","year":"1998"},{"key":"bibr43-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-16952-6_49"},{"key":"bibr44-0278364915609673","first-page":"1000","volume-title":"Proceedings of the 21st national conference on artificial intelligence","author":"Thomaz AL","year":"2006"},{"key":"bibr45-0278364915609673","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2007.09.009"},{"key":"bibr46-0278364915609673","volume-title":"Proceedings of the AAAI workshop on human comprehensible machine learning","author":"Thomaz AL","year":"2005"},{"key":"bibr47-0278364915609673","volume-title":"Proceedings of the international conference on machine learning 2011","author":"Waugh K","year":"2011"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364915609673","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364915609673","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364915609673","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:43Z","timestamp":1777457923000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364915609673"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,11,16]]},"references-count":47,"journal-issue":{"issue":"14","published-print":{"date-parts":[[2015,12]]}},"alternative-id":["10.1177\/0278364915609673"],"URL":"https:\/\/doi.org\/10.1177\/0278364915609673","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,11,16]]}}}