While interacting with a machine, humans will naturally formulate beliefs about the machine's behavior, andthese beliefs will affect the interaction. Since humans and machines have imperfect information about each otherand their environment, a natural model for their interaction is a game. Such games have been investigated fromthe perspective of economic game theory, and some results on discrete decision-making have been translated tothe neuromechanical setting, but there is little work on continuous sensorimotor games that arise when humansinteract in a dynamic closed loop with machines. We study these games both theoretically and experimentally,deriving predictive models for steady-state (i.e. equilibrium) and transient (i.e. learning) behaviors of humansinteracting with other agents (humans and machines). Specifically, we consider experiments wherein agentsare instructed to control a linear system so as to minimize a given quadratic cost functional, i.e. the agentsplay a Linear-Quadratic game. Using our recent results on gradient-based learning in continuous games, wederive predictions regarding steady-state and transient play. These predictions are compared with empiricalobservations of human sensorimotor learning using a teleoperation testbed.
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