Interactive learning of sensor policy fusion

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Abstract

Teaching a robot how to navigate in a new environment only from the sensor input in an end-to-end fashion is still an open challenge with much attention from industry and academia. This paper proposes an algorithm with the name 'Learning Interactively to Resolve Ambiguity' (LIRA) that tackles the problem of sensor policy fusion extending state- of-the-art methods by employing ambiguity awareness in the decision-making and solving it using active and interactive querying of the human expert. LIRA, in fact, employs Gaussian Processes for the estimation of the policy's confidence and investigates the ambiguity due to the disagreement between the single sensor policies on the desired action to take. LIRA aims to make the teaching of new policies easier, learning from human demonstrations and correction.The experiments show that LIRA can be used for learning a sensor-fused policy from scratch or also leveraging the knowledge of existing single sensor policies. The experiments focus on the estimation of the human interventions required for teaching a successful navigation policy.

Original languageEnglish
Title of host publicationProceedings of the 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021
PublisherIEEE
Pages665-670
ISBN (Electronic)978-1-6654-0492-1
DOIs
Publication statusPublished - 2021
Event30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021 - Virtual, Vancouver, Canada
Duration: 8 Aug 202112 Aug 2021

Conference

Conference30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021
Country/TerritoryCanada
CityVirtual, Vancouver
Period8/08/2112/08/21

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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