An intelligent Interactive Learning and Adaptation framework for robot-based vocational training
An intelligent Interactive Learning and Adaptation framework for robot-based vocational training
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基于机器人的职业培训的智能交互式学习和适应框架
DOI：
10.1109/ssci.2016.7850066
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
F. Makedon
中科院分区：
文献类型：
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作者：
K. Tsiakas;M. Abujelala;Alexandros Lioulemes;F. Makedon
在本文中，我们提出了职业环境中人机交互的交互式学习和适应框架。我们展示了如何将交互式强化学习 (RL) 技术应用于此类 HRI 应用程序，以促进有效的交互。我们通过展示职业环境中的两个不同用例来展示该框架。在第一个用例中，机器人充当培训师，在用户解决河内塔问题时为用户提供帮助。在第二个用例中，机器人和人类操作员协作解决协同构造或组装任务。我们展示了如何在所提出的框架中使用强化学习，并讨论其在两个不同职业用例（机器人辅助训练和人机协作案例）中的有效性。
In this paper, we propose an Interactive Learning and Adaptation framework for Human-Robot Interaction in a vocational setting. We show how Interactive Reinforcement Learning (RL) techniques can be applied to such HRI applications in order to promote effective interaction. We present the framework by showing two different use cases in a vocational setting. In the first use case, the robot acts as a trainer, assisting the user while the user is solving the Towers of Hanoi problem. In the second use case, a robot and a human operator collaborate towards solving a synergistic construction or assembly task. We show how RL is used in the proposed framework and discuss its effectiveness in the two different vocational use cases, the Robot Assisted Training and the Human-Robot Collaboration case.