Quality-diversity based semi-autonomous teleoperation using reinforcement learning.
Neural Netw
; 179: 106543, 2024 Nov.
Article
en En
| MEDLINE
| ID: mdl-39089158
ABSTRACT
Recent successes in robot learning have significantly enhanced autonomous systems across a wide range of tasks. However, they are prone to generate similar or the same solutions, limiting the controllability of the robot to behave according to user intentions. These limited robot behaviors may lead to collisions and potential harm to humans. To resolve these limitations, we introduce a semi-autonomous teleoperation framework that enables users to operate a robot by selecting a high-level command, referred to as option. Our approach aims to provide effective and diverse options by a learned policy, thereby enhancing the efficiency of the proposed framework. In this work, we propose a quality-diversity (QD) based sampling method that simultaneously optimizes both the quality and diversity of options using reinforcement learning (RL). Additionally, we present a mixture of latent variable models to learn multiple policy distributions defined as options. In experiments, we show that the proposed method achieves superior performance in terms of the success rate and diversity of the options in simulation environments. We further demonstrate that our method outperforms manual keyboard control for time duration over cluttered real-world environments.
Palabras clave
Texto completo:
1
Colección:
01-internacional
Base de datos:
MEDLINE
Asunto principal:
Refuerzo en Psicología
/
Robótica
Límite:
Humans
Idioma:
En
Revista:
Neural Netw
Asunto de la revista:
NEUROLOGIA
Año:
2024
Tipo del documento:
Article
País de afiliación:
Corea del Sur
Pais de publicación:
Estados Unidos