相关论文: Actor-Critic Reinforcement Learning with Simultane…

This paper contributes a preliminary report on the advantages and disadvantages of incorporating simultaneous human control and feedback signals in the training of a reinforcement learning robotic agent. While robotic human-machine…

This paper extends recent work in interactive machine learning (IML) focused on effectively incorporating human feedback. We show how control and feedback signals complement each other in systems which model human reward. We demonstrate…

We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning. Leveraging the sample-efficiency of the Soft Actor-Critic algorithm, we have implemented a robotic platform able to…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

Artificial intelligence systems increasingly involve continual learning to enable flexibility in general situations that are not encountered during system training. Human interaction with autonomous systems is broadly studied, but research…

Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

We investigate whether naturalistic emotional human feedback can be directly exploited as a reward signal for training artificial agents via interactive human-in-the-loop reinforcement learning. To answer this question, we devise an…

Integration of human feedback plays a key role in improving the learning capabilities of intelligent systems. This comparative study delves into the performance, robustness, and limitations of imitation learning compared to traditional…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

This paper investigates the problem of interactively learning behaviors communicated by a human teacher using positive and negative feedback. Much previous work on this problem has made the assumption that people provide feedback for…

Fluid human-agent communication is essential for the future of human-in-the-loop reinforcement learning. An agent must respond appropriately to feedback from its human trainer even before they have significant experience working together.…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

The collaboration between humans and artificial intelligence (AI) holds the promise of achieving superior outcomes compared to either acting alone-a phenomenon called human-AI synergy. Nevertheless, our understanding of the conditions that…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

In this work, we present a hybrid learning method for training task-oriented dialogue systems through online user interactions. Popular methods for learning task-oriented dialogues include applying reinforcement learning with user feedback…

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

Designing an effective reward function has long been a challenge in reinforcement learning, particularly for complex tasks in unstructured environments. To address this, various learning paradigms have emerged that leverage different forms…