Human-Robot Collaboration via Deep Reinforcement Learning of Real-World Interactions [article]

Jonas Tjomsland, Ali Shafti, A. Aldo Faisal
2019 arXiv   pre-print
We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning. Leveraging the sample-efficiency of the Soft Actor-Critic algorithm, we have implemented a robotic platform able to learn a non-trivial collaborative task with a human partner, without pre-training in simulation, and using only 30 minutes of real-world interactions. This enables us to study Human-Robot and Human-Human collaborative learning through real-world interactions. We
more » ... resent preliminary results, showing that state-of-the-art deep learning methods can take human-robot collaborative learning a step closer to that of humans interacting with each other.
arXiv:1912.01715v1 fatcat:frotcu6f3vccrbapqmndd6dpee