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Safe Exploration for Interactive Machine Learning Matteo Turchetta, Felix Berkenkamp, Andreas Krause <latexit

  1. Safe Exploration for Interactive Machine Learning Matteo Turchetta, Felix Berkenkamp, Andreas Krause

  2. <latexit sha1_base64="6dFmwAauOuGIL1koQpOLW+AHK4o=">AB7XicbVBNSwMxEJ2tX7V+VT16CRahIpTdKuix6MVjBfsB7VKyabaNZpMlyapl6X/w4kERr/4fb/4b03YP2vpg4PHeDPzgpgzbVz328ktLa+sruXCxubW9s7xd29paJIrRBJeqHWBNORO0YZjhtB0riqOA01ZwfzXxWw9UaSbFrRnF1I/wQLCQEWys1AzLT8cnj71iya24U6BF4mWkBnqveJXty9JElFhCMdadzw3Nn6KlWGE03Ghm2gaY3KPB7RjqcAR1X46vXaMjqzSR6FUtoRBU/X3RIojrUdRYDsjbIZ63puI/3mdxIQXfspEnBgqyGxRmHBkJq8jvpMUWL4yBJMFLO3IjLEChNjAyrYELz5lxdJs1rxTivVm7NS7TKLIw8HcAhl8OAcanANdWgAgTt4hld4c6Tz4rw7H7PWnJPN7MfOJ8/r6Oiw=</latexit> <latexit sha1_base64="hL+FaLtOT9luwfLW3Ut08xl3Pcw=">AB6HicbVDLTgJBEOzF+IL9ehlIjHxRHbRI9ELx4hkUcCGzI79MLI7OxmZtZICF/gxYPGePWTvPk3DrAHBSvpFLVne6uIBFcG9f9dnJr6xubW/ntws7u3v5B8fCoqeNUMWywWMSqHVCNgktsG4EthOFNAoEtoLR7cxvPaLSPJb3ZpygH9GB5CFn1Fip/tQrltyOwdZJV5GSpCh1it+dfsxSyOUhgmqdcdzE+NPqDKcCZwWuqnGhLIRHWDHUkj1P5kfuiUnFmlT8JY2ZKGzNXfExMaT2OAtsZUTPUy95M/M/rpCa89idcJqlByRaLwlQE5PZ16TPFTIjxpZQpri9lbAhVZQZm03BhuAtv7xKmpWyd1Gu1C9L1ZsjycwCmcgwdXUIU7qEDGCA8wyu8OQ/Oi/PufCxac042cwx/4Hz+AOeHjQA=</latexit> Interactive Machine Learning • Agent can query no noisy sy values of an unk unkno nown n function • Use data to make inform rmed queries x f ( x ) + w • Available queries may depend from previous ones: model dependency with directed graph • Includes: Bayesian optimization, active learning and exploration of deterministic Markov decision processes Icon made by Freepik, Good Ware from www.flaticon.com Matteo Turchetta

  3. <latexit sha1_base64="hL+FaLtOT9luwfLW3Ut08xl3Pcw=">AB6HicbVDLTgJBEOzF+IL9ehlIjHxRHbRI9ELx4hkUcCGzI79MLI7OxmZtZICF/gxYPGePWTvPk3DrAHBSvpFLVne6uIBFcG9f9dnJr6xubW/ntws7u3v5B8fCoqeNUMWywWMSqHVCNgktsG4EthOFNAoEtoLR7cxvPaLSPJb3ZpygH9GB5CFn1Fip/tQrltyOwdZJV5GSpCh1it+dfsxSyOUhgmqdcdzE+NPqDKcCZwWuqnGhLIRHWDHUkj1P5kfuiUnFmlT8JY2ZKGzNXfExMaT2OAtsZUTPUy95M/M/rpCa89idcJqlByRaLwlQE5PZ16TPFTIjxpZQpri9lbAhVZQZm03BhuAtv7xKmpWyd1Gu1C9L1ZsjycwCmcgwdXUIU7qEDGCA8wyu8OQ/Oi/PufCxac042cwx/4Hz+AOeHjQA=</latexit> <latexit sha1_base64="CtSaWxXLG+cQl1A/lMlyUODJ8dM=">AB7nicbVA9SwNBEJ2LXzF+RS1tFoMQm3AXBS0sgjaWEcwHJEfY2+wlS/Z2z909MRz5ETYWitj6e+z8N26SKzTxwcDjvRlm5gUxZ9q47reTW1ldW9/Ibxa2tnd294r7B0tE0Vog0guVTvAmnImaMw2k7VhRHAaetYHQz9VuPVGkmxb0Zx9SP8ECwkBFsrNR6KD+dXiG3Vy5FXcGtEy8jJQgQ71X/Or2JUkiKgzhWOuO58bGT7EyjHA6KXQTWNMRnhAO5YKHFHtp7NzJ+jEKn0USmVLGDRTf0+kONJ6HAW2M8JmqBe9qfif10lMeOmnTMSJoYLMF4UJR0ai6e+ozxQlho8twUQxeysiQ6wMTahg3BW3x5mTSrFe+sUr07L9WuszjycATHUAYPLqAGt1CHBhAYwTO8wpsTOy/Ou/Mxb8052cwh/IHz+QPFw46K</latexit> <latexit sha1_base64="1WDpB7YDdQ1gSi87g0UxOTPeTV4=">AB8XicbVDLSgNBEOz1GeMr6tHLYBDiJexGQY9BLx4jmAcmS5idJIhs7ObmVkxLPkLx4U8erfePNvnDwOmljQUFR1090VxIJr47rfzsrq2vrGZmYru72zu7efOzis6ShRDKsEpFqBFSj4BKrhuBjVghDQOB9WBwM/Hrj6g0j+S9GcXoh7QneZczaqz0MCw8nbV6OCRuO5d3i+4UZJl4c5KHOSrt3FerE7EkRGmYoFo3PTc2fkqV4UzgONtKNMaUDWgPm5ZKGqL20+nFY3JqlQ7pRsqWNGSq/p5Iaj1KAxsZ0hNXy96E/E/r5mY7pWfchknBiWbLeomgpiITN4nHa6QGTGyhDLF7a2E9amizNiQsjYEb/HlZVIrFb3zYunuIl+nseRgWM4gQJ4cAluIUKVIGBhGd4hTdHOy/Ou/Mxa1x5jNH8AfO5w9OaZAF</latexit> <latexit sha1_base64="6dFmwAauOuGIL1koQpOLW+AHK4o=">AB7XicbVBNSwMxEJ2tX7V+VT16CRahIpTdKuix6MVjBfsB7VKyabaNZpMlyapl6X/w4kERr/4fb/4b03YP2vpg4PHeDPzgpgzbVz328ktLa+sruXCxubW9s7xd29paJIrRBJeqHWBNORO0YZjhtB0riqOA01ZwfzXxWw9UaSbFrRnF1I/wQLCQEWys1AzLT8cnj71iya24U6BF4mWkBnqveJXty9JElFhCMdadzw3Nn6KlWGE03Ghm2gaY3KPB7RjqcAR1X46vXaMjqzSR6FUtoRBU/X3RIojrUdRYDsjbIZ63puI/3mdxIQXfspEnBgqyGxRmHBkJq8jvpMUWL4yBJMFLO3IjLEChNjAyrYELz5lxdJs1rxTivVm7NS7TKLIw8HcAhl8OAcanANdWgAgTt4hld4c6Tz4rw7H7PWnJPN7MfOJ8/r6Oiw=</latexit> Safety constrained interactive machine learning f ( x ) + w q ( x ) ≥ 0 Unknown safety constrai raint q(x)>0 that must be satisfied at al all ti times x q ( x ) < 0 Encompasses many problems Therapy design Mars exploration Model free RL [Sui et al. 2015], [Turchetta et al. 2016], [Berkenkamp et al. 2016] [Sui et al. 2018] [Wachi et al. 2018] Icon made by Smashicons from www.flaticon.com Matteo Turchetta

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