Active Learning based on Data Uncertainty and Model Sensitivity

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task. Failing to detect missing information often leads to abrupt movements or to collisions with the environment. Active learning can quantify the uncertainty of performing the task and, in general, locate regions of missing information. We introduce a novel algorithm for active learning and demonstrate its utility for generating smooth trajectories. Our approach is based on deep generative models and metric learning in latent spaces. It relies on the Jacobian of the likelihood to detect non-smooth transitions in the latent space, i.e., transitions that lead to abrupt changes in the movement of the robot. When non-smooth transitions are detected, our algorithm asks for an additional demonstration from that specific region. The newly acquired knowledge modifies the data manifold and allows for learning a latent representation for generating smooth movements. We demonstrate the efficacy of our approach on generalising elementary skills, transitioning across different skills, and implicitly avoiding collisions with the environment. For our experiments, we use a simulated pendulum where we observe its motion from images and a 7-DoF anthropomorphic arm.Comment: Published on 2018 IEEE/RSJ International Conference on Intelligent Robots and Syste

Automated Active Learning with a Robot

In the field of automated processes in industry, a major goal is for robots to solve new tasks without costly adaptions. Therefore, it is of advantage if the robot can perform new tasks independently while the learning process is intuitively understandable for humans. In this article, we present a highly automated and intuitive active learning algorithm for robots. It learns new classification tasks by asking questions to a human teacher and automatically decides when to stop the learning process by self-assessing its confidence. This so-called stopping criterion is required to guarantee a fully automated procedure. Our approach is highly interactive as we use speech for communication and a graphical visualization tool. The latter provides information about the learning progress and the stopping criterion, which helps the human teacher in understanding the training process better. The applicability of our approach is shown and evaluated on a real Baxter robot

Using informative behavior to increase engagement while learning from human reward

In this work, we address a relatively unexplored aspect of designing agents that learn from human reward. We investigate how an agent’s non-task behavior can affect a human trainer’s training and agent learning. We use the TAMER framework, which facilitates the training of agents by human-generated reward signals, i.e., judgements of the quality of the agent’s actions, as the foundation for our investigation. Then, starting from the premise that the interaction between the agent and the trainer should be bi-directional, we propose two new training interfaces to increase a human trainer’s active involvement in the training process and thereby improve the agent’s task performance. One provides information on the agent’s uncertainty which is a metric calculated as data coverage, the other on its performance. Our results from a 51-subject user study show that these interfaces can induce the trainers to train longer and give more feedback. The agent’s performance, however, increases only in response to the addition of performance-oriented information, not by sharing uncertainty levels. These results suggest that the organizational maxim about human behavior, “you get what you measure”—i.e., sharing metrics with people causes them to focus on optimizing those metrics while de-emphasizing other objectives—also applies to the training of agents. Using principle component analysis, we show how trainers in the two conditions train agents differently. In addition, by simulating the influence of the agent’s uncertainty–informative behavior on a human’s training behavior, we show that trainers could be distracted by the agent sharing its uncertainty levels about its actions, giving poor feedback for the sake of reducing the agent’s uncertainty without improving the agent’s performance

Canvil: Designerly Adaptation for LLM-Powered User Experiences

Advancements in large language models (LLMs) are poised to spark a proliferation of LLM-powered user experiences. In product teams, designers are often tasked with crafting user experiences that align with user needs. To involve designers and leverage their user-centered perspectives to create effective and responsible LLM-powered products, we introduce the practice of designerly adaptation for engaging with LLMs as an adaptable design material. We first identify key characteristics of designerly adaptation through a formative study with designers experienced in designing for LLM-powered products (N=12). These characteristics are 1) have a low technical barrier to entry, 2) leverage designers' unique perspectives bridging users and technology, and 3) encourage model tinkering. Based on this characterization, we build Canvil, a Figma widget that operationalizes designerly adaptation. Canvil supports structured authoring of system prompts to adapt LLM behavior, testing of adapted models on diverse user inputs, and integration of model outputs into interface designs. We use Canvil as a technology probe in a group-based design study (6 groups, N=17) to investigate the implications of integrating designerly adaptation into design workflows. We find that designers are able to iteratively tinker with different adaptation approaches and reason about interface affordances to enhance end-user interaction with LLMs. Furthermore, designers identified promising collaborative workflows for designerly adaptation. Our work opens new avenues for collaborative processes and tools that foreground designers' user-centered expertise in the crafting and deployment of LLM-powered user experiences