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This paper describes a framework for the investigation and modeling of humanspatial guidance behavior in complex environments. The model is derived fromthe concept of interaction patterns, which represent the invariances orsymmetries inherent in the interactions between an agent and its environment.These patterns provide the basic elements needed for the formalization ofspatial behavior and determine a natural hierarchy that can be unified under ahierarchical hidden Markov model.

Hierarchical Model of Human Guidance Performance Based on Interaction Patterns in Behavior