An Optimal State Dependent Haptic Guidance Controller via a Hard Rein

The aim of this paper is to improve the optimality and accuracy of techniques to guide a human in limited visibility & auditory conditions such as in fire-fighting in warehouses or similar environments. At present, teams of breathing apparatus (BA) wearing fire-fighters move in teams following walls. Due to limited visibility and high noise in the oxygen masks, they predominantly depend on haptic communication through reins. An intelligent agent (man/machine) with full environment perceptual capabilities is an alternative to enhance navigation in such unfavorable environments, just like a dog guiding a blind person. This paper proposes an optimal state-dependent control policy to guide a follower with limited environmental perception, by an intelligent and environmentally perceptive agent. Based on experimental systems identification and numerical simulations on human demonstrations from eight pairs of participants, we show that the guiding agent and the follower experience learning for a optimal stable state-dependent a novel 3rd and 2nd order auto regressive predictive and reactive control policies respectively. Our findings provide a novel theoretical basis to design advanced human-robot interaction algorithms in a variety of cases that require the assistance of a robot to perceive the environment by a human counterpart

Prompt, Plan, Perform: LLM-based Humanoid Control via Quantized Imitation Learning

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in the requirements of multiple policies and limited capabilities for tackling complex and unknown tasks. To overcome these issues, we present a novel approach that combines adversarial imitation learning with large language models (LLMs). This innovative method enables the agent to learn reusable skills with a single policy and solve zero-shot tasks under the guidance of LLMs. In particular, we utilize the LLM as a strategic planner for applying previously learned skills to novel tasks through the comprehension of task-specific prompts. This empowers the robot to perform the specified actions in a sequence. To improve our model, we incorporate codebook-based vector quantization, allowing the agent to generate suitable actions in response to unseen textual commands from LLMs. Furthermore, we design general reward functions that consider the distinct motion features of humanoid robots, ensuring the agent imitates the motion data while maintaining goal orientation without additional guiding direction approaches or policies. To the best of our knowledge, this is the first framework that controls humanoid robots using a single learning policy network and LLM as a planner. Extensive experiments demonstrate that our method exhibits efficient and adaptive ability in complicated motion tasks

Design thinking support: information systems versus reasoning

Numerous attempts have been made to conceive and implement appropriate information systems to support architectural designers in their creative design thinking processes. These information systems aim at providing support in very diverse ways: enabling designers to make diverse kinds of visual representations of a design, enabling them to make complex calculations and simulations which take into account numerous relevant parameters in the design context, providing them with loads of information and knowledge from all over the world, and so forth. Notwithstanding the continued efforts to develop these information systems, they still fail to provide essential support in the core creative activities of architectural designers. In order to understand why an appropriately effective support from information systems is so hard to realize, we started to look into the nature of design thinking and on how reasoning processes are at play in this design thinking. This investigation suggests that creative designing rests on a cyclic combination of abductive, deductive and inductive reasoning processes. Because traditional information systems typically target only one of these reasoning processes at a time, this could explain the limited applicability and usefulness of these systems. As research in information technology is increasingly targeting the combination of these reasoning modes, improvements may be within reach for design thinking support by information systems

Evaluation of an anthropomorphic user interface in a travel reservation context and affordances

This paper describes an experiment and its results concerning research that has been going on for a number ofyears in the area of anthropomorphic user interface feedback. The main aims of the research have been to examine theeffectiveness and user satisfaction of anthropomorphic feedback in various domains. The results are of use to all interactivesystems designers, particularly when dealing with issues of user interface feedback design. There is currently somedisagreement amongst computer scientists concerning the suitability of such types of feedback. This research is working toresolve this disagreement. The experiment detailed, concerns the specific software domain of Online Factual Delivery in thespecific context of online hotel bookings. Anthropomorphic feedback was compared against an equivalent non-anthropomorphicfeedback. Statistically significant results were obtained suggesting that the non-anthropomorphic feedback was more effective.The results for user satisfaction were however less clear. The results obtained are compared with previous research. Thissuggests that the observed results could be due to the issue of differing domains yielding different results. However the resultsmay also be due to the affordances at the interface being more facilitated in the non-anthropomorphic feedback

Reputation Agent: Prompting Fair Reviews in Gig Markets

Our study presents a new tool, Reputation Agent, to promote fairer reviews from requesters (employers or customers) on gig markets. Unfair reviews, created when requesters consider factors outside of a worker's control, are known to plague gig workers and can result in lost job opportunities and even termination from the marketplace. Our tool leverages machine learning to implement an intelligent interface that: (1) uses deep learning to automatically detect when an individual has included unfair factors into her review (factors outside the worker's control per the policies of the market); and (2) prompts the individual to reconsider her review if she has incorporated unfair factors. To study the effectiveness of Reputation Agent, we conducted a controlled experiment over different gig markets. Our experiment illustrates that across markets, Reputation Agent, in contrast with traditional approaches, motivates requesters to review gig workers' performance more fairly. We discuss how tools that bring more transparency to employers about the policies of a gig market can help build empathy thus resulting in reasoned discussions around potential injustices towards workers generated by these interfaces. Our vision is that with tools that promote truth and transparency we can bring fairer treatment to gig workers.Comment: 12 pages, 5 figures, The Web Conference 2020, ACM WWW 202

Automatic Curriculum Learning For Deep RL: A Short Survey

Automatic Curriculum Learning (ACL) has become a cornerstone of recent successes in Deep Reinforcement Learning (DRL).These methods shape the learning trajectories of agents by challenging them with tasks adapted to their capacities. In recent years, they have been used to improve sample efficiency and asymptotic performance, to organize exploration, to encourage generalization or to solve sparse reward problems, among others. The ambition of this work is dual: 1) to present a compact and accessible introduction to the Automatic Curriculum Learning literature and 2) to draw a bigger picture of the current state of the art in ACL to encourage the cross-breeding of existing concepts and the emergence of new ideas.Comment: Accepted at IJCAI202

Machine Learning Approach for an Advanced Agent-based Intelligent Tutoring System

Machine Learning Approach for an Advanced Agent-based Intelligent Tutoring System Roya Aminikia Learning Management Systems (LMSs) are digital frameworks that provide curriculum, training materials, and corresponding assessments to guarantee an effective learning process. Although these systems are capable of distributing the learning content, they do not support dynamic learning processes and do not have the capability to communicate with human learners who are required to interact in a dynamic environment during the learning process. To create this process and support the interaction feature, LMSs are equipped with Intelligent Tutoring Systems (ITSs). The main objective of an ITS is to facilitate students’ movement towards their learning goals through virtual tutoring. When equipped with ITSs, LMSs operate as dynamic systems to provide students with access to a tutor who is available anytime during the learning session. The crucial issues we address in this thesis are how to set up a dynamic LMS, and how to design the logical structure behind an ITS. Artificial intelligence, multi-agent technology and machine learning provide powerful theories and foundations that we leverage to tackle these issues. We designed and implemented the new concept of Pedagogical Agent (PA) as the main part of our ITS. This agent uses an evaluation procedure to compare each particular student, in terms of performance, with their peers to develop a worthwhile guidance. The agent captures global knowledge of students’ feature measurements during students’ guiding process. Therefore, the PA retains an updated status, called image, of each specific student at any moment. The agent uses this image for the purpose of diagnosing students’ skills to implement a specific correct instruction. To develop the infrastructure of the agent decision making algorithm, we laid out a protocol (decision tree) to select the best individual direction. The significant capability of the agent is the ability to update its functionality by looking at a student’s image at run time. We also applied two supervised machine learning methods to improve the decision making protocol performance in order to maximize the effect of the collaborating mechanism between students and the ITS. Through these methods, we made the necessary modifications to the decision making structure to promote students’ performance by offering prompts during the learning sessions. The conducted experiments showed that the proposed system is able to efficiently classify students into learners with high versus low performance. Deployment of such a model enabled the PA to use different decision trees while interacting with students of different learning skills. The performance of the system has been shown by ROC curves and details regarding combination of different attributes used in the two machine learning algorithms are discussed, along with the correlation of key attributes that contribute to the accuracy and performance of the decision maker components