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dc.contributor.authorMartínez Martínez, David
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationMartínez, D.; Alenyà, G.; Torras, C. Finding safe policies in model-based active learning. A: IROS Machine Learning in Planning and Control of Robot Motion Workshop. "Proceedings of the 2014 IROS Machine Learning in Planning and Control of Robot Motion Worksho". Chicago: 2014, p. 1-6.
dc.description.abstractTask learning in robotics is a time-consuming process, and model-based reinforcement learning algorithms have been proposed to learn with just a small amount of experiences. However, reducing the number of experiences used to learn implies that the algorithm may overlook crucial actions required to get an optimal behavior. For example, a robot may learn simple policies that have a high risk of not reaching the goal because they often fall into dead-ends. We propose a new method that allows the robot to reason about dead-ends and their causes. Analyzing its current model and experiences, the robot will hypothesize the possible causes for the dead-end, and identify the actions that may cause it, marking them as dangerous. Afterwards, whenever a dangerous action is included into a plan which has a high risk of leading to a dead-end, the special action request teacher confirmation will be triggered by the robot to actively confirm with a teacher that the planned risky action should be executed. This method permits learning safer policies with the addition of just a few teacher demonstration requests. Experimental validation of the approach is provided in two different scenarios: a robotic assembly task and a domain from the international planning competition. Our approach gets success ratios very close to 1 in problems where previous approaches had high probabilities of reaching dead-ends
dc.format.extent6 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherintelligent robots
dc.subject.otherlearning (artificial intelligence)
dc.subject.otherplanning (artificial intelligence)
dc.subject.otheruncertainty handling.
dc.titleFinding safe policies in model-based active learning
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Intelligent robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
upcommons.citation.authorMartínez, D.; Alenyà, G.; Torras, C.
upcommons.citation.contributorIROS Machine Learning in Planning and Control of Robot Motion Workshop
upcommons.citation.publicationNameProceedings of the 2014 IROS Machine Learning in Planning and Control of Robot Motion Worksho

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