Teacher-Aware Active Robot Learning

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference contributionScientificvertaisarvioitu

1 Sitaatiot (Scopus)
153 Lataukset (Pure)

Abstrakti

This paper investigates Active Robot Learning strategies that take into account the effort of the user in an interactive learning scenario. Most research claims that Active Learning's sample efficiency can reduce training time and therefore the effort of the human teacher. We argue that the performance driven query selection of standard Active Learning can make the job of the human teacher difficult, resulting in a decrease in training quality due to slowdowns or increased error rates. We investigate this issue by proposing a learning strategy that aims to minimize the user's workload by taking into account the flow of the questions. We compare this strategy against a standard Active Learning strategy based on uncertainty sampling and a third strategy being an hybrid of the two. After studying in simulation the validity and the behavior of these approaches, we conducted a user study where 26 subjects interacted with a NAO robot embodying the presented strategies. We reports results from both the robot's performance and the human teacher's perspectives, observing how the hybrid strategy represents a good compromise between learning performance and user's experienced workload. Based on the results, we provide recommendations on the development of Active Robot Learning strategies going beyond robot's performance.
AlkuperäiskieliEnglanti
OtsikkoHRI 2019 - 14th ACM/IEEE International Conference on Human-Robot Interaction
KustantajaIEEE
Sivut335-343
Sivumäärä9
Vuosikerta2019-March
ISBN (elektroninen)978-1-5386-8555-6
DOI - pysyväislinkit
TilaJulkaistu - 22 maaliskuuta 2019
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisuussa
TapahtumaACM/IEEE International Conference on Human-Robot Interaction - Daegu, Etelä-Korea
Kesto: 11 maaliskuuta 201914 maaliskuuta 2019
Konferenssinumero: 14
http://humanrobotinteraction.org/2019/

Julkaisusarja

NimiACM/IEEE International Conference on Human-Robot Interaction
KustantajaIEEE
ISSN (painettu)2167-2121
ISSN (elektroninen)2167-2148

Conference

ConferenceACM/IEEE International Conference on Human-Robot Interaction
LyhennettäHRI
MaaEtelä-Korea
KaupunkiDaegu
Ajanjakso11/03/201914/03/2019
www-osoite

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  • Projektit

    ROSE: Robotit ja hyvinvointipalvelujen tulevaisuus

    Lundell, J., Brander, T., Kyrki, V., Racca, M. & Verdoja, F.

    01/01/201830/06/2021

    Projekti: Academy of Finland: Strategic research funding

    COMPUTED: Computational User Interface Design

    Oulasvirta, A., Kim, S., Dayama, N., Shiripour, M., Todi, K., Liao, Y., Koch, J., Nioche, A., Feit, A., Bruckner, L. & Leiva, L.

    27/03/201531/08/2020

    Projekti: EU: ERC grants

    Siteeraa tätä

    Racca, M., Oulasvirta, A., & Kyrki, V. (2019). Teacher-Aware Active Robot Learning. teoksessa HRI 2019 - 14th ACM/IEEE International Conference on Human-Robot Interaction (Vuosikerta 2019-March, Sivut 335-343). [8673300] (ACM/IEEE International Conference on Human-Robot Interaction). IEEE. https://doi.org/10.1109/HRI.2019.8673300