Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Probabilistic Semantic Data Association for Collaborative Human-Robot
  Sensing   In collaborative human-robot semantic sensing problems, e.g. for scientific
exploration, robots could potentially overtrust information given by a human
partner, resulting in suboptimal state estimation and poor team performance.
When humans cannot be treated as oracles, robots need to update state beliefs
to correctly account for possible discrepancies between human semantic
observations and the actual world states which lead to those observations. This
work develops strategies for rigorous online calculation of probabilistic
semantic data association (PSDA) probabilities for semantic likelihoods in
general settings, unlike previous work which developed naive or heuristic
approximations for specific settings. The new PSDA method is incorporated into
a hybrid Bayesian data fusion scheme which uses Gaussian mixture priors for
object states and softmax functions for semantic human sensor observation
likelihoods, and is demonstrated in Monte Carlo simulations of collaborative
multi-object search missions featuring a range of relevant human sensing
characteristics (e.g. false detection rate). It is shown that PSDA leads to
robust estimation of observation association probabilities under a wide range
of conditions whenever semantic human sensor data contain significant target
reference ambiguities for autonomous object search and localization.

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The categories of this paper are: mtrl-th
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The categories of this paper are: supr-con
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The categories of this paper are: chem-ph
6
The categories of this paper are: astro-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: bayes-an
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The categories of this paper are: cond-mat
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The categories of this paper are: q-alg
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The categories of this paper are: gr-qc
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The categories of this paper are: atom-ph
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The categories of this paper are: hep-th
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The categories of this paper are: plasm-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: acc-phys
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The categories of this paper are: cmp-lg
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The categories of this paper are: patt-sol