Skip to Main content Skip to Navigation
Conference papers

Learning to interact with humans using goal-directed and habitual behaviors

Erwan Renaudo 1, 2 Sandra Devin 3 Benoît Girard 1, 2 Raja Chatila 1 Rachid Alami 3 Mehdi Khamassi 1, 2 Aurélie Clodic 3, 4
2 AMAC
ISIR - Institut des Systèmes Intelligents et de Robotique
3 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
4 LAAS-IDEA - Service Informatique : Développement, Exploitation et Assistance
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In order to improve adaptation capabilities of robots for human-robot interaction, we take inspiration from psychology and neuroscience to propose a hybrid control architecture. This architecture is based on the multiple Experts approach that is mainly used for mammal behavior modelling. We propose to couple a human-aware task planner (HATP) with a model-free reinforcement learning to allow the robot to learn behaviors relevant to solve tasks in interaction, taking advantage from the a-priori knowledge provided to the planner and the cheap decision capability of the reinforcement learning agent. We evaluate this architecture in a HRI task of cleaning a table and show that the combination of Experts (planner and reinforcement learning agent) increases the learning speed of the learning agent.
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download

https://hal.laas.fr/hal-01944380
Contributor : Aurélie Clodic <>
Submitted on : Tuesday, December 4, 2018 - 3:47:30 PM
Last modification on : Wednesday, May 20, 2020 - 2:02:50 PM

File

2015COM3503.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01944380, version 1

Citation

Erwan Renaudo, Sandra Devin, Benoît Girard, Raja Chatila, Rachid Alami, et al.. Learning to interact with humans using goal-directed and habitual behaviors. Ro-Man 2015, Workshop on Learning for Human-Robot Collaboration, Aug 2015, Kobe, Japan. ⟨hal-01944380⟩

Share

Metrics

Record views

131

Files downloads

67