Internal State Estimation in Crowds via Active Information Gathering
Published in IEEE Transactions on Geoscience and Remote Sensing , 2025
Abstract: Accurately estimating human internal states, such as personality traits or behavioral patterns, is critical for enhancing the effectiveness of human-robot interaction, particularly in multi-agent settings. These insights are key in applications ranging from social navigation to autism diagnosis. However, prior methods are limited by scalability and passive observation, making real-time estimation in complex, multi-human settings difficult. In this work, we propose a practical method for active human personality estimation in crowds, with a focus on applications related to Autism Spectrum Disorder (ASD). Our method combines a personality-conditioned behavior model, based on the Eysenck 3-Factor theory, with an active robot information-gathering policy that triggers human behaviors through a receding-horizon planner. The robot’s belief about human personality is then updated via Bayesian inference. We demonstrate the effectiveness of our approach through proof-of-concept studies in simulation, user studies with typical adults, and preliminary experiments involving participants with ASD. Our results show that our method can scale to tens of humans and reduce personality estimation error by 29.2% and uncertainty by 79.9% in simulation compared to the passive baseline. User studies with typical adults confirm the method’s ability to generalize across complex personality distributions. Additionally, we explore its application in autism-related scenarios, demonstrating that the method can identify the difference between neurotypical and autistic behavior. The results suggest that our framework could serve as a foundation for future ASD-specific applications.
Recommended citation: Xuebo Ji, Zherong Pan, Xifeng Gao, Lei Yang, Xinxin Du, Kaiyun Li, Yongjin Liu, Wenping Wang, Changhe Tu, and Jia Pan. 2025. Internal State Estimation in Crowds via Active Information Gathering. J. Hum.-Robot Interact. 15, 2, Article 28 (March 2026), 33 pages. https://doi.org/10.1145/3772065.