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Conference papers

Teaching a Robot with Unlabeled Instructions: The TICS Architecture

Abstract : In this work, we propose a framework that enables a human to teach a robot a new task by interactively providing it with unlabeled instructions. We ground the meaning of instruction signals in the task-learning process, and use them simultaneously for guiding the latter. We implement our framework as a modular architecture, named TICS (Task-Instruction-Contingency-Shaping) that combines different information sources: a predefined reward function, human evaluative feedback and unlabeled instructions. This approach provides a novel perspective for robotic task learning that lies between Reinforcement Learning and Supervised Learning paradigms. We evaluate our framework both in simulation and with a real robot. The experimental results demonstrate the effectiveness of our framework in accelerating the task-learning process and in reducing the number of required teaching signals.
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https://hal.archives-ouvertes.fr/hal-03224574
Contributor : Mohamed Chetouani Connect in order to contact the contributor
Submitted on : Tuesday, May 18, 2021 - 10:48:15 AM
Last modification on : Friday, March 18, 2022 - 3:37:48 AM

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  • HAL Id : hal-03224574, version 1

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Anis Najar, Olivier Sigaud, Mohamed Chetouani. Teaching a Robot with Unlabeled Instructions: The TICS Architecture. AAMAS 2021, May 2021, London (virtual), United Kingdom. ⟨hal-03224574⟩

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