Affordance-Based Human–Robot Interaction With Reinforcement Learning
نویسندگان
چکیده
Planning precise manipulation in robotics to perform grasp and release-related operations, while interacting with humans is a challenging problem. Reinforcement learning (RL) has the potential make robots attain this capability. In paper, we propose an affordance-based human-robot interaction (HRI) framework, aiming reduce action space size that would considerably impede exploration efficiency of agent. The framework based on new algorithm called Contextual Q-learning (CQL). We first show proposed trains reduced amount time (2.7 seconds) reaches 84% success rate. This suits robot’s observe current scenario configuration learn solve it. Then, empirically validate for implementation HRI real-world scenarios. During HRI, robot uses semantic information from state optimal policy last training step search relevant changes environment may trigger generation policy.
منابع مشابه
Object-object interaction affordance learning
This paper presents a novel object–object affordance learning approach that enables intelligent robots to learn the interactive functionalities of objects from human demonstrations in everyday environments. Instead of considering a single object, we model the interactive motions between paired objects in a human–object–objectway. The innate interaction-affordance knowledge of the paired objects...
متن کاملAffordance-Based Human-Robot Interaction
In our targeted scenario, humans can flexibly establish joint object reference with a robot entirely on the basis of their own intuitions. To reach this aim, the robot needs to be equipped with the kind of knowledge that can be matched in a cognitively adequate way to users’ intuitive conceptual and linguistic preferences. Such an endeavour requires knowledge about human spatial object referenc...
متن کاملLearning Interactive Affordance for Human-Robot Interaction
In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and human-object-human) interactions, describing how body-parts of each agent move with respect to each other and what spatial relations they should maintain to ...
متن کاملLearning Social Affordance for Human-Robot Interaction
In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and human-object-human) interactions, describing how body-parts of each agent move with respect to each other and what spatial relations they should maintain to ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2023
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2023.3262450