When robots operate in real-world off-road environments with unstructured terrains, the ability to adapt their navigational policy is critical for effective and safe navigation. However, off-road terrains introduce several challenges to robot navigation, including dynamic obstacles and terrain uncertainty, leading to inefficient traversal or navigation failures. To address these challenges, we introduce a novel approach for adaptation by negotiation that enables a ground robot to adjust its navigational behaviors through a negotiation process. Our approach first learns prediction models for various navigational policies to function as a terrain-aware joint local controller and planner. Then, through a new negotiation process, our approach learns from various policies' interactions with the environment to agree on the optimal combination of policies in an online fashion to adapt robot navigation to unstructured off-road terrains on the fly. Additionally, we implement a new optimization algorithm that offers the optimal solution for robot negotiation in real-time during execution. Experimental results have validated that our method for adaptation by negotiation outperforms previous methods for robot navigation, especially over unseen and uncertain dynamic terrains.
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A-EXP4: Online Social Policy Learning for Adaptive Robot-Pedestrian Interaction
We study self-supervised adaptation of a robot's policy for social interaction, i.e., a policy for active communication with surrounding pedestrians through audio or visual signals. Inspired by the observation that humans continually adapt their behavior when interacting under varying social context, we propose Adaptive EXP4 (A-EXP4), a novel online learning algorithm for adapting the robot-pedestrian interaction policy. To address limitations of bandit algorithms in adaptation to unseen and highly dynamic scenarios, we employ a mixture model over the policy parameter space. Specifically, a Dirichlet Process Gaussian Mixture Model (DPMM) is used to cluster the parameters of sampled policies and maintain a mixture model over the clusters, hence effectively discovering policies that are suitable to the current environmental context in an unsupervised manner. Our simulated and real-world experiments demonstrate the feasibility of A-EXP4 in accommodating interaction with different types of pedestrians while jointly minimizing social disruption through the adaptation process. While the A-EXP4 formulation is kept general for application in a variety of domains requiring continual adaptation of a robot's policy, we specifically evaluate the performance of our algorithm using a suitcase-inspired assistive robotic platform. In this concrete assistive scenario, the algorithm observes how audio signals produced by the navigational system affect the behavior of pedestrians and adapts accordingly. Consequently, we find A-EXP4 to effectively adapt the interaction policy for gently clearing a navigation path in crowded settings, resulting in significant reduction in empirical regret compared to the EXP4 baseline.
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- Award ID(s):
- 1637927
- NSF-PAR ID:
- 10308745
- Date Published:
- Journal Name:
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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We study the problem of maximizing payoff generated over a period of time in a general class of closed queueing networks with a finite, fixed number of supply units that circulate in the system. Demand arrives stochastically, and serving a demand unit (customer) causes a supply unit to relocate from the “origin” to the “destination” of the customer. The key challenge is to manage the distribution of supply in the network. We consider general controls including customer entry control, pricing, and assignment. Motivating applications include shared transportation platforms and scrip systems. Inspired by the mirror descent algorithm for optimization and the backpressure policy for network control, we introduce a rich family of mirror backpressure (MBP) control policies. The MBP policies are simple and practical and crucially do not need any statistical knowledge of the demand (customer) arrival rates (these rates are permitted to vary in time). Under mild conditions, we propose MBP policies that are provably near optimal. Specifically, our policies lose at most [Formula: see text] payoff per customer relative to the optimal policy that knows the demand arrival rates, where K is the number of supply units, T is the total number of customers over the time horizon, and η is the demand process’ average rate of change per customer arrival. An adaptation of MBP is found to perform well in numerical experiments based on data from NYC Cab.
This paper was accepted by Gabriel Weintraub, revenue management and market analytics.
Funding: Y. Kanoria was supported by the National Science Foundation’s Division of Civil, Mechanical, and Manufacturing Innovation [Grant CMMI-1653477].
Supplemental Material: The data files and online appendices are available at https://doi.org/10.1287/mnsc.2023.4934 .
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Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in a generic, user-agnostic manner. However, to minimize confusion and navigation errors, our real-world analysis reveals a crucial need to adapt theinstructional guidance across different end-users with diverse mobility skills. To address this practical issue in scalable system design, we propose a novel model based reinforcement learning framework for personalizing the system-user interaction experience. When incrementally adapting the system to new users, we propose to use a weighted experts model for addressing data-efficiency limitations in transfer learning with deep models. A real-world dataset of navigation by blind users is used to show that the proposed approach allows for (1) more accurate long-term human behavior prediction (up to 20 seconds into the future) through improved reasoning over personal mobility characteristics, interaction with surrounding obstacles, and the current navigation goal, and (2) quick adaptation at the onset of learning, when data is limited.more » « less
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Selecting appropriate tutoring help actions that account for both a student’s content mastery and engagement level is essential for effective human tutors, indicating the critical need for these skills in autonomous tutors. In this work, we formulate the robot-student tutoring help action selection problem as the Assistive Tutor partially observable Markov decision process (AT-POMDP). We designed the AT-POMDP and derived its parameters based on data from a prior robot-student tutoring study. The policy that results from solving the ATPOMDP allows a robot tutor to decide upon the optimal tutoring help action to give a student, while maintaining a belief of the student’s mastery of the material and engagement with the task. This approach is validated through a between-subjects field study, which involved 4th grade students (n = 28) interacting with a social robot solving long division problems over five sessions. Students who received help from a robot using the AT-POMDP policy demonstrated significantly greater learning gains than students who received help from a robot with a fixed help action selection policy. Our results demonstrate that this robust computational framework can be used effectively to deliver diverse and personalized tutoring support over time for students.more » « less
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We develop a framework to learn bio-inspired foraging policies using human data. We conduct an experiment where humans are virtually immersed in an open field foraging environment and are trained to collect the highest amount of rewards. A Markov Decision Process (MDP) framework is introduced to model the human decision dynamics. Then, Imitation Learning (IL) based on maximum likelihood estimation is used to train Neural Networks (NN) that map human decisions to observed states. The results show that passive imitation substantially underperforms humans. We further refine the human-inspired policies via Reinforcement Learning (RL) using the on-policy Proximal Policy Optimization (PPO) algorithm which shows better stability than other algorithms and can steadily improve the policies pre-trained with IL. We show that the combination of IL and RL match human performance and that the artificial agents trained with our approach can quickly adapt to reward distribution shift. We finally show that good performance and robustness to reward distribution shift strongly depend on combining allocentric information with an egocentric representation of the environment.
- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/IROS40897.2019.8967737
