59,515 research outputs found
Efficient Model Learning for Human-Robot Collaborative Tasks
We present a framework for learning human user models from joint-action
demonstrations that enables the robot to compute a robust policy for a
collaborative task with a human. The learning takes place completely
automatically, without any human intervention. First, we describe the
clustering of demonstrated action sequences into different human types using an
unsupervised learning algorithm. These demonstrated sequences are also used by
the robot to learn a reward function that is representative for each type,
through the employment of an inverse reinforcement learning algorithm. The
learned model is then used as part of a Mixed Observability Markov Decision
Process formulation, wherein the human type is a partially observable variable.
With this framework, we can infer, either offline or online, the human type of
a new user that was not included in the training set, and can compute a policy
for the robot that will be aligned to the preference of this new user and will
be robust to deviations of the human actions from prior demonstrations. Finally
we validate the approach using data collected in human subject experiments, and
conduct proof-of-concept demonstrations in which a person performs a
collaborative task with a small industrial robot
Recommended from our members
Centralised Versus Market-Based Control Under Environment Uncertainty: Case of the Mobile Task Allocation Problem (MTAP)
This paper aims at comparing the centralised versus the market-based approach. This is done in the context of the mobile task allocation problem (MTAP) from the perspective of environmental uncertainty. MTAP is defined as an optimization problem for planning the assignment of service tasks to mobile workers. Environmental uncertainty is introduced through the injection of stochastic tasks and dynamic travel delays. A multi-agent simulator is employed to experiment the behaviour of each approach in reaction to different uncertainty levels. Preliminary results suggest a tentative conceptual model to evaluate the
suitability of each approach to address MTAP in function of uncertainty. It is suggested that uncertainty’s effect on achieved performance is moderated by the timeliness of decision making, workers’ degree of local knowledge, and problem’s complexity and size
APPROXIMATION ASSISTED MULTIOBJECTIVE AND COLLABORATIVE ROBUST OPTIMIZATION UNDER INTERVAL UNCERTAINTY
Optimization of engineering systems under uncertainty often involves problems that have multiple objectives, constraints and subsystems. The main goal in these problems is to obtain solutions that are optimum and relatively insensitive to uncertainty. Such solutions are called robust optimum solutions. Two classes of such problems are considered in this dissertation. The first class involves Multi-Objective Robust Optimization (MORO) problems under interval uncertainty. In this class, an entire system optimization problem, which has multiple nonlinear objectives and constraints, is solved by a multiobjective optimizer at one level while robustness of trial alternatives generated by the optimizer is evaluated at the other level. This bi-level (or nested) MORO approach can become computationally prohibitive as the size of the problem grows. To address this difficulty, a new and improved MORO approach under interval uncertainty is developed. Unlike the previously reported bi-level MORO methods, the improved MORO performs robustness evaluation only for optimum solutions and uses this information to iteratively shrink the feasible domain and find the location of robust optimum solutions. Compared to the previous bi-level approach, the improved MORO significantly reduces the number of function calls needed to arrive at the solutions. To further improve the computational cost, the improved MORO is combined with an online approximation approach. This new approach is called Approximation-Assisted MORO or AA-MORO.
The second class involves Multiobjective collaborative Robust Optimization (McRO) problems. In this class, an entire system optimization problem is decomposed hierarchically along user-defined domain specific boundaries into system optimization problem and several subsystem optimization subproblems. The dissertation presents a new Approximation-Assisted McRO (AA-McRO) approach under interval uncertainty. AA-McRO uses a single-objective optimization problem to coordinate all system and subsystem optimization problems in a Collaborative Optimization (CO) framework. The approach converts the consistency constraints of CO into penalty terms which are integrated into the subsystem objective functions. In this way, AA-McRO is able to explore the design space and obtain optimum design solutions more efficiently compared to a previously reported McRO.
Both AA-MORO and AA-McRO approaches are demonstrated with a variety of numerical and engineering optimization examples. It is found that the solutions from both approaches compare well with the previously reported approaches but require a significantly less computational cost. Finally, the AA-MORO has been used in the development of a decision support system for a refinery case study in order to facilitate the integration of engineering and business decisions using an agent-based approach
Scalable Planning and Learning for Multiagent POMDPs: Extended Version
Online, sample-based planning algorithms for POMDPs have shown great promise
in scaling to problems with large state spaces, but they become intractable for
large action and observation spaces. This is particularly problematic in
multiagent POMDPs where the action and observation space grows exponentially
with the number of agents. To combat this intractability, we propose a novel
scalable approach based on sample-based planning and factored value functions
that exploits structure present in many multiagent settings. This approach
applies not only in the planning case, but also in the Bayesian reinforcement
learning setting. Experimental results show that we are able to provide high
quality solutions to large multiagent planning and learning problems
- …