In this article, an enactive architecture is described that allows a humanoid robot to learn to compose simple actions into turn-taking behaviors while playing interaction games with a human partner. The robot's action choices are reinforced by social feedback from the human in the form of visual attention and measures of behavioral synchronization. We demonstrate that the system can acquire and switch between behaviors learned through interaction based on social feedback from the human partner. The role of reinforcement based on a short term memory of the interaction is experimentally investigated. Results indicate that feedback based only on the immediate state is insufficient to learn certain turn-taking behaviors. Therefore some history of the interaction must be considered in the acquisition of turn-taking, which can be efficiently handled through the use of short term memory.
Additionally, in IHA all rewards are calculated based solely on the current sensor data. For many tasks, especially interaction tasks, this is not sufficient to determine whether the phenomena that should be reinforced is occurring unless the temporal horizon of experiences has been chosen to match the task @cite_51 . In many cases, it is necessary to examine a sequential history of the sensor data for relationships between an agent's actions and those of the agent with which it interacts. We hypothesize that fluid turn-taking requires attention to the recent history of both one's own and the other's actions in order to anticipate and prepare for the shift in roles. In light of this, EIHA incorporates a short term memory over the recent history of sensor data relevant to the regulation of turn-taking (to be described in ).
@cite_51
2296055201 2151382427 2894314201 2058148593
One of the main challenges in autonomous manipulation is to generate appropriate multi-modal reference trajectories that enable feedback controllers to compute control commands that compensate for unmodeled perturbations and therefore to achieve the task at hand. We propose a data-driven approach to incrementally acquire reference signals from experience and decide online when and to which successive behavior to switch, ensuring successful task execution. We reformulate this online decision making problem as a pair of related classification problems. Both process the current sensor readings, composed from multiple sensor modalities, in real-time (at 30 Hz). Our approach exploits that movement generation can dictate sensor feedback. Thus, enforcing stereotypical behavior will yield stereotypical sensory events which can be accumulated and stored along with the movement plan. Such movement primitives, augmented with sensor experience, are called Associative Skill Memories (ASMs). Sensor experience consists of (real) sensors, including haptic, auditory information and visual information, as well as additional (virtual) features. We show that our approach can be used to teach dexterous tasks, e.g. a bimanual manipulation task on a real platform that requires precise manipulation of relatively small objects. Task execution is robust against perturbation and sensor noise, because our method decides online whether or not to switch to alternative ASMs due to unexpected sensory signals. Potential-based reward shaping can significantly improve the time needed to learn an optimal policy and, in multi-agent systems, the performance of the final joint-policy. It has been proven to not alter the optimal policy of an agent learning alone or the Nash equilibria of multiple agents learning together. However, a limitation of existing proofs is the assumption that the potential of a state does not change dynamically during the learning. This assumption often is broken, especially if the reward-shaping function is generated automatically. In this paper we prove and demonstrate a method of extending potential-based reward shaping to allow dynamic shaping and maintain the guarantees of policy invariance in the single-agent case and consistent Nash equilibria in the multi-agent case. For autonomous agents to successfully operate in the real world, the ability to anticipate future scene states is a key competence. In real-world scenarios, future states become increasingly uncertain and multi-modal, particularly on long time horizons. Dropout based Bayesian inference provides a computationally tractable, theoretically well grounded approach to learn likely hypotheses models to deal with uncertain futures and make predictions that correspond well to observations -- are well calibrated. However, it turns out that such approaches fall short to capture complex real-world scenes, even falling behind in accuracy when compared to the plain deterministic approaches. This is because the used log-likelihood estimate discourages diversity. In this work, we propose a novel Bayesian formulation for anticipating future scene states which leverages synthetic likelihoods that encourage the learning of diverse models to accurately capture the multi-modal nature of future scene states. We show that our approach achieves accurate state-of-the-art predictions and calibrated probabilities through extensive experiments for scene anticipation on Cityscapes dataset. Moreover, we show that our approach generalizes across diverse tasks such as digit generation and precipitation forecasting. In the past few years there has been increased interest in using data-mining techniques to extract interesting patterns from time series data generated by sensors monitoring temporally varying phenomenon. Most work has assumed that raw data is somehow processed to generate a sequence of events, which is then mined for interesting episodes. In some cases the rule for determining when a sensor reading should generate an event is well known. However, if the phenomenon is ill-understood, stating such a rule is difficult. Detection of events in such an environment is the focus of this paper. Consider a dynamic phenomenon whose behavior changes enough over time to be considered a qualitatively significant change. The problem we investigate is of identifying the time points at which the behavior change occurs. In the statistics literature this has been called the change-point detection problem. The standard approach has been to (a) upriori determine the number of change-points that are to be discovered, and (b) decide the function that will be used for curve fitting in the interval between successive change-points. In this paper we generalize along both these dimensions. We propose an iterative algorithm that fits a model to a time segment, and uses a likelihood criterion to determine if the segment should be partitioned further, i.e. if it contains a new changepoint. In this paper we present algorithms for both the batch and incremental versions of the problem, and evaluate their behavior with synthetic and real data. Finally, we present initial results comparing the change-points detected by the batch algorithm with those detected by people using visual inspection.