Interactive Robot Education Riad Akrour, Marc Schoenauer, Mich` ele - PowerPoint PPT Presentation

Interactive Robot Education Riad Akrour, Marc Schoenauer, Mich` ele Sebag RL-Feedbacks @ECMLPKDD, Praha, sept. 2013

Swarm Robotics Swarm-bot (2001-2005) Swarm Foraging, UWE Symbrion IP, 2008-2013; http://symbrion.org/

This talk: Train a resource-bounded robot

Reinforcement Learning, formal background Notations ◮ State space S ◮ Action space A ◮ Transition p ( s , a , s ′ ) �→ [0 , 1] ◮ Reward r ( s ) ◮ Discount 0 < γ < 1 Goal: a policy π mapping states onto actions π : S �→ A s.t. Maximize E [ π | s 0 ] = Expected discounted cumulative reward t γ t +1 p ( s t , a = π ( s t ) , s t +1 ) r ( s t +1 ) = r ( s 0 ) + �

Robot: innate vs acquired knowledge What is designed, what is learned ? ◮ States, actions are designed and provided ◮ Rewards are designed ◮ Transition model: provided or learned The sought output: a policy π mapping states onto actions with maximal expected cumulative reward � T � � J ( π ) = I E r t | π t =1 where π �→ trajectory: ( s 0 , a 0 , r 0 , s 1 , s 1 , r 1 , . . . s T ) Key feature: a data-intensive approach.

What does Reinforcement Learning need ? ◮ A reward function standard RL Sutton-Barto 08; Szepesv´ ari 10 ◮ An expert demonstrating an “optimal“ behavior inverse RL Abbeel 04-12; Billard et al. 05-13 ◮ A knowledgeable teacher preference-based RL Akrour et al. 11-12; Cheng et al 11; Wilson et al. 12 ◮ A knowledgeable and moderately reliable teacher this talk

Find the treasure Single reward: on the treasure. ��

Wandering robot Nothing happens... ��

The robot finds it ��

Interactive Robot Education Riad Akrour, Marc Schoenauer, Mich` ele - PowerPoint PPT Presentation

Interactive Robot Education Riad Akrour, Marc Schoenauer, Mich` ele Sebag RL-Feedbacks @ECMLPKDD, Praha, sept. 2013 Swarm Robotics Swarm-bot (2001-2005) Swarm Foraging, UWE Symbrion IP, 2008-2013; http://symbrion.org/ This talk: Train a

An Interactive Tool for Designing Complex Robot Motion Patterns Georgios F. Pierris and Michail

NAO Robot Music Application for Children Fabrianne Effendi EEE30 Why NAO? Interactive and

Interactive Learning of Grounded Verb Semantics towards Human-Robot Communication Lanbo She and

Robothlon Team competition, each team programs a robot for each event Events Robot

Intelligent Robotics Solutions Interactive ROBOT SAIL Our Philosophy VISION To deliver art

Human-Robot Interactive Systems Sunil K. Agrawal, Ph.D. Professor of Mechanical Engineering and

Rational Robot A Test Automation Tool What is Rational Robot? Rational Robot is a complete

Multi Robot Physical Interaction Dongun Lee@RSS MultirobotSystems WS 7/16/2015 1

What is a robot? A robot is an intelligent system that interacts with the Robot Lecture 2:

Out line Robot ics Percept ion Robot ics Planning Reading: R&N Sect .

Using Boolean Networks for Consensus in Multi-Robot Environmental Monitoring Tasks Hanzhong

Robot ics J uly 26, 2005 CS 486/ 686 Universit y of Wat erloo Out line Robot ics

Robot sensors A robot can be defined as an intelligent link between perception and action

? 1 1/31/2012 Every robot maps to a point in Every robot maps to a point in its configuration

What is a Robot? (3) What Can Robots Do? (1) Autonomous Underwater Vehicle Unmanned Aerial

Robot behaviour and control A robot can be defined as an intelligent link between perception

Workshop 3 Running Around Start downloading the TagBot project template (~75MB) in advance

Functions as a Service (Serverless computing) Motivation All require at least one server to

Security Issues and Solutions in Peer-to- peer Systems for Real-time Communications

Social Computing CS 278 | Stanford University | Michael Bernstein How can we design the social

GRAF: Graph-based Runtime Adaptation Framework SEAMS 2011 Waikiki, Honolulu, Hawaii, USA Mahdi

10 steps forward & 5 steps backward DeepSec 2011 Sourabh Satish Distinguished Engineer/

Use "Yanone Kaffeesatz" TrueType font: http://www.yanone.de/cgi-

The Cordova Development Lifecycle Andrew Grieve ApacheCon April 2014 http://goo.gl/bTGMNW

Interactive Robot Education Riad Akrour, Marc Schoenauer, Mich` ele - PowerPoint PPT Presentation

Interactive Robot Education Riad Akrour, Marc Schoenauer, Mich` ele Sebag RL-Feedbacks @ECMLPKDD, Praha, sept. 2013 Swarm Robotics Swarm-bot (2001-2005) Swarm Foraging, UWE Symbrion IP, 2008-2013; http://symbrion.org/ This talk: Train a

An Interactive Tool for Designing Complex Robot Motion Patterns Georgios F. Pierris and Michail

NAO Robot Music Application for Children Fabrianne Effendi EEE30 Why NAO? Interactive and

Interactive Learning of Grounded Verb Semantics towards Human-Robot Communication Lanbo She and

Robothlon Team competition, each team programs a robot for each event Events Robot

Intelligent Robotics Solutions Interactive ROBOT SAIL Our Philosophy VISION To deliver art

Human-Robot Interactive Systems Sunil K. Agrawal, Ph.D. Professor of Mechanical Engineering and

Rational Robot A Test Automation Tool What is Rational Robot? Rational Robot is a complete

Multi Robot Physical Interaction Dongun Lee@RSS MultirobotSystems WS 7/16/2015 1

What is a robot? A robot is an intelligent system that interacts with the Robot Lecture 2:

Out line Robot ics Percept ion Robot ics Planning Reading: R&amp;N Sect .

Using Boolean Networks for Consensus in Multi-Robot Environmental Monitoring Tasks Hanzhong

Robot ics J uly 26, 2005 CS 486/ 686 Universit y of Wat erloo Out line Robot ics

Robot sensors A robot can be defined as an intelligent link between perception and action

? 1 1/31/2012 Every robot maps to a point in Every robot maps to a point in its configuration

What is a Robot? (3) What Can Robots Do? (1) Autonomous Underwater Vehicle Unmanned Aerial

Robot behaviour and control A robot can be defined as an intelligent link between perception

Workshop 3 Running Around Start downloading the TagBot project template (~75MB) in advance

Functions as a Service (Serverless computing) Motivation All require at least one server to

Security Issues and Solutions in Peer-to- peer Systems for Real-time Communications

Social Computing CS 278 | Stanford University | Michael Bernstein How can we design the social

GRAF: Graph-based Runtime Adaptation Framework SEAMS 2011 Waikiki, Honolulu, Hawaii, USA Mahdi

10 steps forward &amp; 5 steps backward DeepSec 2011 Sourabh Satish Distinguished Engineer/

Use &quot;Yanone Kaffeesatz&quot; TrueType font: http://www.yanone.de/cgi-

The Cordova Development Lifecycle Andrew Grieve ApacheCon April 2014 http://goo.gl/bTGMNW

Out line Robot ics Percept ion Robot ics Planning Reading: R&N Sect .

10 steps forward & 5 steps backward DeepSec 2011 Sourabh Satish Distinguished Engineer/

Use "Yanone Kaffeesatz" TrueType font: http://www.yanone.de/cgi-