意识到知识和模糊性的机器人从纠正和评估反中学习
1Cognitive Robotics Department, TU Delft, Mekelweg 2, 2628 CD Delft, The Netherlands.
Neural computing & applications
|July 17, 2023
概括
这项研究引入了一种新的交互式仿真学习 (IIL) 机器人方法,通过提高不确定性意识和灵活反来增强与非专家和不完美的教师的人机协作. 这种方法导致更好的学习融合和教学经验.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 人与计算机的交互
背景情况:
- 交互式模仿学习 (IIL) 需要对非专家用户提供灵活性,并且必须考虑到人为错误.
- 现有的IIL方法通常假设完美的教师 (预言) 并缺乏适应各种人类因素的适应性.
研究的目的:
- 为非专家和不完美的教师提出一种IIL方法,以增强人机交互.
- 通过结合不确定性估计和灵活的反机制来提高机器人的适应性.
主要方法:
- 整合了机器人的认识和定量不确定性估计,以识别知识差距和示范模两可.
- 使教师能够提供纠正示范,评估强化和隐含的积极反.
- 开发了一个可适应不同教师互动偏好和错误模式的IIL框架.
主要成果:
- 与其他方法相比,学习趋同得到了改善,特别是与模两可的教师相比.
- 实验结果显示,学习过程中数据效率提高.
- 用户研究表明,整体教学体验有所改善.
结论:
- 拟议的IIL方法有效地解决了非专家和不完美的教师在人机交互方面所面临的挑战.
- 不确定性估计和灵活的反机制显著改善机器人学习和用户体验.
- 这项工作推进了可适应机器人的部署,以便非专家用户更广泛地采用.
相关概念视频
Observational Learning
213
Albert Bandura's observational learning, also known as imitation or modeling, occurs when a person observes and imitates another's behavior. It is a quicker process than operant conditioning. A well-known example is the Bobo doll study, where children who saw an adult acting aggressively towards the doll were more likely to act aggressively when left alone, compared to those who observed a nonaggressive adult. Many psychologists view observational learning as a form of latent learning...
213
Steps in the Modeling Process
254
Albert Bandura's theory of observational learning identifies four critical processes: attention, retention, motor reproduction, and reinforcement or motivation.
Attention is the first necessary component for observational learning. It involves focusing on what the model is doing and saying. For example, if you decide to take a drawing class to enhance your skills, you need to pay close attention to the instructor's words and hand movements. The characteristics of the model significantly...
Attention is the first necessary component for observational learning. It involves focusing on what the model is doing and saying. For example, if you decide to take a drawing class to enhance your skills, you need to pay close attention to the instructor's words and hand movements. The characteristics of the model significantly...
254
Feedback control systems
349
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
349
Control Systems
1.2K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
At the heart...
1.2K
Machines: Problem Solving II
336
Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. Consider a lifting tong carrying a 100 kg load. It comprises movable sections DAF and CBG linked together with member AB.
336
Feedback Loops
57.8K
In most cases, excessive hormone production is prevented by negative feedback—a loop that starts with a stimulus inducing the release of a particular substance, like a hormone, to maintain a certain level before triggering a signal that results in a decrease in further release of the hormone.
57.8K


