Efficiently Combining Human Demonstrations and Interventions for Safe Training of Autonomous Systems in Real-Time

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 for Autonomous Systems, which is our framework for combining multiple modalities of human interaction. The current effort employs human demonstrations to teach a desired behavior via imitation learning, then leverages intervention data to correct for undesired behaviors produced by the imitation learner to teach novel tasks to an autonomous agent safely, after only minutes of training. We demonstrate this method in an autonomous perching task using a quadrotor with continuous roll, pitch, yaw, and throttle commands and imagery captured from a downward-facing camera in a high-fidelity simulated environment. Our method improves task completion performance for the same amount of human interaction when compared to learning from demonstrations alone, while also requiring on average 32% less data to achieve that performance. This provides evidence that combining multiple modes of human interaction can increase both the training speed and overall performance of policies for autonomous systems.Comment: 9 pages, 6 figure

One size does not fit all: Organisational diversity in New Zealand tertiary sector ethics committees

New Zealand tertiary ethics committees may work from similar ethical principles but this article demonstrates that the way in which they operate is idiosyncratic. The paper builds on commentaries offered by current or former members of five New Zealand ethics committees on the organisation and practices of their committees. It examines differences among the committees with the aim of initiating an ongoing conversation about the work of ethics committees in the New Zealand context. It argues for the merits of diversity, transparency and openness as core principles for the work of ethics committees and as a platform for dealing with critique