Integrating Task Planning and Interactive Learning for Robots to Work in Human Environments

Agostini, Alejandro; Torras, Carme; Wörgötter, Florentin

doi:10.5591/978-1-57735-516-8/IJCAI11-398

Integrating Task Planning and Interactive Learning for Robots to Work in Human Environments

Alejandro Agostini, Carme Torras, Florentin Wörgötter

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Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence. Pages 2386-2390.

https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-398

Abstract

Human environments are challenging for robots, which need to be trainable by lay people and learn new behaviours rapidly without disrupting much the ongoing activity. A system that integrates AI techniques for planning and learning is here proposed to satisfy these strong demands. The approach rapidly learns planning operators from few action experiences using a competitive strategy where many alternatives of cause-effect explanations are evaluated in parallel, and the most successful ones are used to generate the operators. The success of a cause-effect explanation is evaluated by a probabilistic estimate that compensates the lack of experience, producing more confident estimations and speeding up the learning in relation to other known estimates. The system operates without task interruption by integrating in the planning-learning loop a human teacher that supports the planner in making decisions. All the mechanisms are integrated and synchronized in the robot using a general decision-making framework. The feasibility and scalability of the architecture are evaluated in two different robot platforms: a Stäubli arm, and the humanoid ARMAR III.

Alejandro Agostini, Carme Torras, and Florentin Wörgötter. 2011. Integrating Task Planning and Interactive Learning for Robots to Work in Human Environments. In Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11. IJCAI, 2386–2390. https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-398

@inproceedings{ijcai2011p398,
  title     = {Integrating Task Planning and Interactive Learning for Robots to Work in Human Environments},
  author    = {Agostini, Alejandro and Torras, Carme and Wörgötter, Florentin},
  booktitle = {Proceedings of the Twenty-Second International Joint Conference on
               Artificial Intelligence, {IJCAI-11}},
  publisher = {AAAI Press/International Joint Conferences on Artificial Intelligence},
  editor    = {Toby Walsh},
  pages     = {2386--2390},
  year      = {2011},
  month     = {7},
  doi       = {10.5591/978-1-57735-516-8/IJCAI11-398},
  url       = {https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-398},
}

TY  - CPAPER
TI  - Integrating Task Planning and Interactive Learning for Robots to Work in Human Environments
AU  - Agostini, Alejandro
AU  - Torras, Carme
AU  - Wörgötter, Florentin
T2  - Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11
PB  - AAAI Press/International Joint Conferences on Artificial Intelligence
PY  - 2011
SP  - 2386
EP  - 2390
DO  - 10.5591/978-1-57735-516-8/IJCAI11-398
UR  - https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-398
ER  -