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Overview of Robot Decision Making Prof. Yuke Zhu Fall 2020 CS391R: Robot Learning (Fall 2020) 1 Todays Agenda What is Robot Decision Making? Mathematical Framework of Sequential Decision Making Learning for Decision Making

  1. Overview of Robot Decision Making Prof. Yuke Zhu Fall 2020 CS391R: Robot Learning (Fall 2020) 1

  2. Today’s Agenda ● What is Robot Decision Making? ● Mathematical Framework of Sequential Decision Making ● Learning for Decision Making ○ reinforcement learning (model-free vs. model-based) ○ imitation learning (behavior cloning, DAgger, IRL, and adversarial learning) ● Research Frontiers ○ compositionality, learning to learn, … CS391R: Robot Learning (Fall 2020) 3

  3. Robot Learning is to close the perception- action loop. Ro Perceive Perceive Act Act Act Perceive [Sa et al. IROS 2014] [Levine et al. JMLR 2016] [Bohg et al. ICRA 2018] CS391R: Robot Learning (Fall 2020) 4

  4. What is Robot Decision Making? Choosing the action a robot should perform in the physical world… Assistive Robots (Companions) Outer Space (Explorers) Autonomous Driving (Transporters) CS391R: Robot Learning (Fall 2020) 5

  5. What is Robot Decision Making? Choosing the action a robot should perform in the physical world… • Behaviors can’t be easily programmed • Imperfect sensing and actuation • Safety and robustness under uncertainty [Source: Boston Dynamics] CS391R: Robot Learning (Fall 2020) 6

  6. Robot Decision Making vs. Playing Games Robot decision making is embodied , active , and environmentally situated . [Source: Boston Dynamics] [Source: DeepMind’s AlphaGo] CS391R: Robot Learning (Fall 2020) 7

  7. Before We Dive In… ● This lecture is intended to provide a high-level, bird-eye view on (robot) decision making. ● The goal is not to go through all technical details: ○ We will re-visit them through paper reading in the following weeks. ○ Study the parts that you are less familiar with from online resources. ● Take related courses and read textbooks to learn this subject in depth (see the last slide). CS391R: Robot Learning (Fall 2020) 8

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