The development of human-robot systems able to leverage the strengths of both humans and their robotic counterparts has been greatly sought after because of the foreseen, broad-ranging impact across industry and research. We believe the true potential of these systems cannot be reached unless the robot is able to act with a high level of autonomy, reducing the burden of manual tasking or teleoperation. To achieve this level of autonomy, robots must be able to work fluidly with its human partners, inferring their needs without explicit commands. This inference requires the robot to be able to detect and classify the heterogeneity of its partners. We propose a framework for learning from heterogeneous demonstration based upon Bayesian inference and evaluate a suite of approaches on a real-world dataset of gameplay from StarCraft II. This evaluation provides evidence that our Bayesian approach can outperform conventional methods by up to 12.8.
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