fl0fischer / OFC4HCI

OFC4HCI – Python Toolbox with Optimal Feedback Control Models for Modeling Human-Computer Interaction (including, e.g., MinJerk, LQR, and LQG)

OFC4HCI

OFC4HCI – Code for the ToCHI paper "Optimal Feedback Control for Modeling Human-Computer Interaction"

This python toolbox includes all OFC methods described in the paper "Optimal Feedback Control for Modeling Human-Computer Interaction" (2OL-Eq, MinJerk, LQR, LQG, and E-LQG).

Usage: There are mainly three use cases this library is designed for:

1. Compare different OFC methods regarding their suitability to replicate observed pointing movements

   • Use run_model_comparison.py
   • Examples:

     • Compare 2OL-Eq and LQR with respect to rightward movements of User 2 in the 765x3-task, using optimal parameters:

       python run_model_comparison.py 2OL-Eq LQR --user 2 --distance 765 --width 3 --direction right

     • Compare LQR, LQG, and E-LQG with respect to leftward movements of User 12 in the 1275x85-task, using a signal-dependent noise level of 0.5 for both LQR and LQG, and default (non-optimal) parameters otherwise:

       python run_model_comparison.py LQR LQG E-LQG --user 12 --distance 1275 --width 85 --direction left --lqg_params "sigma_u=0.5" --elqg_params "sigma_u=0.5" --no-opt

     • Compare all available models using optimal parameters with respect to the default movement (rightward movements of User 3 in the 765x51-task, as shown in the paper):

       python run_model_comparison.py 2OL-Eq MinJerk LQR LQG E-LQG

2. Optimize parameters of an OFC method such that the resulting trajectories (or trajectory distributions) best match observed pointing movements with respect to a given loss function

   • Use optimize_params.py
   • Examples:

     • Optimize 2OL-Eq parameters "k" and "d" with respect to (positional) SSE, using the default user movement (rightward movements of User 3 in the 765x51-task, as shown in the paper) as reference:

       python optimize_params.py 2OL-Eq k d --loss=SSE

     • Optimize E-LQG parameters "r", "sigma_u", "sigma_Hdot", and "sigma_frc" with respect to Mean (2-)Wasserstein Distance (using positions and velocities by default), using rightward movements of User 2 in the 765x3-task as reference (other parameters are set to default values):

       python optimize_params.py E-LQG r sigma_u sigma_Hdot sigma_frc --loss=MWD --user 2 --distance 765 --width 3 --direction right

     • Optimize LQR parameter "r" with respect to (positional) SSE, using leftward movements of User 12 in the 1275x85-task, with "velocitycosts_weight" set to 0.005 and "forcecosts_weight" set to 0.0005 (other parameters are set to default values):

       python optimize_params.py LQR r --loss=SSE --user 12 --distance 1275 --width 85 --direction left --params_fixed "velocitycosts_weight=0.005 forcecosts_weight=0.0005"

3. Use control methods to simulate (optimal) user behavior in more general pointing tasks (applicability to other HCI tasks is discussed in the paper and requires some code modifications)

   • For each of the available models, the corresponding python script in "examples/" shows how to compute and visualize the model trajectory (or trajectory distribution) for a given initial position, target, and time horizon.
   • Examples:
     • python examples/secondorderlag_eq_example.py
     • python examples/minjerk_example.py
     • python examples/lqr_example.py
     • python examples/lqg_example.py
     • python examples/elqg_example.py

Available control methods/models:

• "2OL-Eq"
• "MinJerk" (adapted from HoffArbib93 and Flash85)
• "LQR"
• "LQG" (adapted from Todorov05)
• "E-LQG" (adapted from Todorov05, observation model adapted from Todorov98_thesis)

Model parameters:

• "k": stiffness [2OL-Eq]
• "d": damping [2OL-Eq]
• "passage_times": array of indices that correspond to target passing times in via-point tasks; at these time steps, distance, velocity, and force costs are applied; here, this should be [0, N_MJ] for MinJerk, with N_MJ end time step of actual MinJerk trajectory, and [0, N] with N final time step index for LQG/E-LQG [MinJerk (see "N_MJ" in paper), LQG/E-LQG (not used in paper)]
• "r": negative log (!) of effort cost weight [LQR/LQG/E-LQG (corresponds to "-log(omega_r)" with "omega_r" from paper)]
• "velocitycosts_weight": velocity cost weight [LQR/LQG/E-LQG ("omega_v" in paper; note different usage between LQR and LQG/E-LQG!)]
• "forcecosts_weight": force cost weight [LQR/LQG/E-LQG ("omega_f" in paper; note different usage between LQR and LQG/E-LQG!)]
• "mass": mass of object to which forces are applied [LQR/LQG/E-LQG (not used in paper)]
• "t_const_1": time activation constant [LQR/LQG/E-LQG ("tau_1" in paper)]
• "t_const_2": time excitation constant [LQR/LQG/E-LQG ("tau_2" in paper)]
• "sigma_u": signal-dependent (multiplicative) control noise level [LQG/E-LQG]
• "sigma_c": constant (i.e., signal-independent) control noise level [LQG/E-LQG (not used in paper)]
• "sigma_s": observation noise scaling parameter [LQG]
• "sigma_H": proprioceptive position noise level (only used if "include_proprioceptive_endeffector_signals==True") [E-LQG (not used in paper)]
• "sigma_Hdot": velocity perception noise level [E-LQG ("sigma_v" in paper)]
• "sigma_frc": force perception noise level [E-LQG ("sigma_f" in paper)]
• "sigma_e": gaze noise level [E-LQG]
• "gamma": position perception noise weight [E-LQG]
• "saccade_times": array of indices that correspond to saccade times; here, this should be [n_s,N] (avoid whitespaces between list entries in command line argument!), with n_s saccade time between initial position and target and N final time step index [E-LQG (see "n_s" in paper)]
• "Delta": observation time lag in time steps (WARNING: experimental!) [LQG/E-LQG (not used in paper)]

Loss functions:

• "SSE" (positional Sum Squared Error)
• "Maximum Error" (positional Maximum Error)
• "MAE" (positional Mean Absolute Error; not included in model comparisons by default)
• "MKL" (Mean KL Divergence on position and velocity data; only for LQG and E-LQG!)
• "MWD" (Mean (2-)Wasserstein Distance on position and velocity data; only for LQG and E-LQG!)

Requirements:

• python>=3.8
• numpy
• scipy
• pandas
• matplotlib

Installing:

• Clone this git and run pip install -e . from main directory.
• Info: Both run_model_comparison.py and optimize_params.py require the Processed Data of the Pointing Dynamics Dataset from Müller et al. During first execution, you will be asked whether to download and unzip it automatically. Alternatively, you can specify its path manually.