Interest in semi-autonomous systems (SAS) is growing rapidly as a paradigm to deploy autonomous systems in domains that require occasional reliance on humans. This paradigm allows service robots or autonomous vehicles to operate at varying levels of autonomy and offer safety in situations that require human judgment. We propose an introspective model of autonomy that is learned and updated online through experience and dictates the extent to which the agent can act autonomously in any given situation. We define a competence-aware system (CAS) that explicitly models its own proficiency at different levels of autonomy and the available human feedback. A CAS learns to adjust its level of autonomy based on experience to maximize overall efficiency, factoring in the cost of human assistance. We analyze the convergence properties of CAS and provide experimental results for robot delivery and autonomous driving domains that demonstrate the benefits of the approach.
The Autonomy-Alignment Problem in Open-Ended Learning Robots: Formalising the Purpose Framework
Institute of Cognitive Sciences and Technologies, National Research Council（认知科学与技术研究所，国家研究理事会）；Integrated Group for Engineering Research, CITIC, Universidade da Coruña（工程研究联合组，CITIC，科鲁纳大学）；Institute of Intelligent Systems and Robotics, Sorbonne University / CNRS（智能系统与机器人研究所，索邦大学 / CNRS）
Autonomy, Social Norms, and Alignment: Towards a Developmental Framework for Autonomous Artificial Agents
Institute of Cognitive Sciences and Technologies (ISTC-CNR)（认知科学与技术研究所（ISTC-CNR））；Interdepartmental Center for Research Ethics and Integrity (CID Ethics)（跨部门研究伦理与诚信中心（CID Ethics））
Amico: An Event-Driven Modular Framework for Persistent and Embedded Autonomy
Department of Aeronautics and Astronautics, Zhejiang University（浙江大学航空航天学院）；Department of Computer Science, University College London（伦敦大学学院计算机系）；Steinhardt School of Culture, Education, and Human Development, New York University（纽约大学文化、教育与人类发展学院）
Self-Emotion-Mediated Exploration in Artificial Intelligence Mirrors: Findings from Cognitive Psychology
University of Coimbra（科英布拉大学）；Institute for Biomedical Imaging and Translational Research（生物医学影像与转化研究 institutes）；Institute of Systems and Robotics（系统与机器人研究所）
