Interactive reinforcement learning has allowed speeding up the learning process in autonomous agents by including a human trainer providing extra information to the agent in real-time. Current interactive reinforcement learning research has been limited to real-time interactions that offer relevant user advice to the current state only. Additionally, the information provided by each interaction is not retained and instead discarded by the agent after a single-use. In this work, we propose a persistent rule-based interactive reinforcement learning approach, i.e., a method for retaining and reusing provided knowledge, allowing trainers to give general advice relevant to more than just the current state. Our experimental results show persistent advice substantially improves the performance of the agent while reducing the number of interactions required for the trainer. Moreover, rule-based advice shows similar performance impact as state-based advice, but with a substantially reduced interaction count.
Deep Reinforcement Learning (DeepRL) methods have been widely used in robotics to learn about the environment and acquire behaviors autonomously. Deep Interactive Reinforcement Learning (DeepIRL) includes interactive feedback from an external trainer or expert giving advice to help learners choosing actions to speed up the learning process. However, current research has been limited to interactions that offer actionable advice to only the current state of the agent. Additionally, the information is discarded by the agent after a single use that causes a duplicate process at the same state for …
University of New South Wales（新南威尔士大学）；Federation University（联邦大学）；Deakin University（迪肯大学）
The use of interactive advice in reinforcement learning scenarios allows for speeding up the learning process for autonomous agents. Current interactive reinforcement learning research has been limited to real-time interactions that offer relevant user advice to the current state only. Moreover, the information provided by each interaction is not retained and instead discarded by the agent after a single use. In this paper, we present a method for retaining and reusing provided knowledge, allowing trainers to give general advice relevant to more than just the current state. Results obtained sh…
Universidad Central de Chile（智利中央大学）；Deakin University（迪肯大学）；Universidade de Pernambuco（伯南布哥大学）
Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be able to acquire experience from different sources as quickly as possible. A plausible approach to address this issue is interactive feedback, where a trainer advises a learner on which actions should be taken from specific states to speed up the learning process. Moreover, deep reinforcement learning has been recently widely utilized in robotics to learn the en…
Reinforcement learning has been applied to many interesting problems such as the famous TD-gammon and the inverted helicopter flight. However, little effort has been put into developing methods to learn policies for complex persistent tasks and tasks that are time-sensitive. In this paper, we take a step towards solving this problem by using signal temporal logic (STL) as task specification, and taking advantage of the temporal abstraction feature that the options framework provide. We show via simulation that a relatively easy to implement algorithm that combines STL and options can learn a s…
Federation University（联邦大学）；Deakin University（迪肯大学）；Universidad Central de Chile（智利中央大学）
Interactive reinforcement learning proposes the use of externally-sourced information in order to speed up the learning process. When interacting with a learner agent, humans may provide either evaluative or informative advice. Prior research has focused on the effect of human-sourced advice by including real-time feedback on the interactive reinforcement learning process, specifically aiming to improve the learning speed of the agent, while minimising the time demands on the human. This work focuses on answering which of two approaches, evaluative or informative, is the preferred instructiona…
Reinforcement learning has enjoyed multiple successes in recent years. However, these successes typically require very large amounts of data before an agent achieves acceptable performance. This paper introduces a novel way of combating such requirements by leveraging existing (human or agent) knowledge. In particular, this paper uses demonstrations from agents and humans, allowing an untrained agent to quickly achieve high performance. We empirically compare with, and highlight the weakness of, HAT and CHAT, methods of transferring knowledge from a source agent/human to a target agent. This p…
The Ohio State University（俄亥俄州立大学）；University of Washington（华盛顿大学）；Microsoft Research AI（微软人工智能研究院）；U.S. Army Research Lab（美国陆军研究实验室）
Given a text description, most existing semantic parsers synthesize a program in one shot. However, it is quite challenging to produce a correct program solely based on the description, which in reality is often ambiguous or incomplete. In this paper, we investigate interactive semantic parsing, where the agent can ask the user clarification questions to resolve ambiguities via a multi-turn dialogue, on an important type of programs called "If-Then recipes." We develop a hierarchical reinforcement learning (HRL) based agent that significantly improves the parsing performance with minimal quest…
Ubiquitous Knowledge Processing Lab (UKP-TUDA)（泛在知识处理实验室（UKP-TUDA））；Technische Universität Darmstadt（达姆施塔特工业大学）
We propose a method to perform automatic document summarisation without using reference summaries. Instead, our method interactively learns from users' preferences. The merit of preference-based interactive summarisation is that preferences are easier for users to provide than reference summaries. Existing preference-based interactive learning methods suffer from high sample complexity, i.e. they need to interact with the oracle for many rounds in order to converge. In this work, we propose a new objective function, which enables us to leverage active learning, preference learning and reinforc…
Humans are able to identify a referred visual object in a complex scene via a few rounds of natural language communications. Success communication requires both parties to engage and learn to adapt for each other. In this paper, we introduce an interactive training method to improve the natural language conversation system for a visual grounding task. During interactive training, both agents are reinforced by the guidance from a common reward function. The parametrized reward function also cooperatively updates itself via interactions, and contribute to accomplishing the task. We evaluate the …
Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and deep reinforcement learning have been introduced into the AUV design and research to improve its autonomy. However, these methods are still difficult to apply directly to the actual AUV system because of the sparse rewards and low learning efficiency. In this paper, we proposed a deep interactive reinforcement learning method for path following of AUV by combi…
University of Hamburg（汉堡大学）；Universidad Central de Chile（智利中央大学）；Osaka University（大阪大学）；National Institute of Information and Communications Technology（信息通信研究机构）
Interactive reinforcement learning has become an important apprenticeship approach to speed up convergence in classic reinforcement learning problems. In this regard, a variant of interactive reinforcement learning is policy shaping which uses a parent-like trainer to propose the next action to be performed and by doing so reduces the search space by advice. On some occasions, the trainer may be another artificial agent which in turn was trained using reinforcement learning methods to afterward becoming an advisor for other learner-agents. In this work, we analyze internal representations and …
With the continuous development of machine learning technology, major e-commerce platforms have launched recommendation systems based on it to serve a large number of customers with different needs more efficiently. Compared with traditional supervised learning, reinforcement learning can better capture the user's state transition in the decision-making process, and consider a series of user actions, not just the static characteristics of the user at a certain moment. In theory, it will have a long-term perspective, producing a more effective recommendation. The special requirements of reinfor…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they struggle to generalize to novel objects and often operate in a non-interactive open-loop manner. In this work, we present a reinforcement learning framework that learns the interactive grasping of various geometrically distinct real-world objects by continuously controlling an anthropomorphic robotic hand. We explore several explicit representations of object g…
Interactive recommendation that models the explicit interactions between users and the recommender system has attracted a lot of research attentions in recent years. Most previous interactive recommendation systems only focus on optimizing recommendation accuracy while overlooking other important aspects of recommendation quality, such as the diversity of recommendation results. In this paper, we propose a novel recommendation model, named \underline{D}iversity-promoting \underline{D}eep \underline{R}einforcement \underline{L}earning (D$^2$RL), which encourages the diversity of recommendation …
Interactive Information Retrieval (IIR) and Reinforcement Learning (RL) share many commonalities, including an agent who learns while interacts, a long-term and complex goal, and an algorithm that explores and adapts. To successfully apply RL methods to IIR, one challenge is to obtain sufficient relevance labels to train the RL agents, which are infamously known as sample inefficient. However, in a text corpus annotated for a given query, it is not the relevant documents but the irrelevant documents that predominate. This would cause very unbalanced training experiences for the agent and preve…
University of California, Berkeley（加州大学伯克利分校）；Carnegie Mellon University（卡内基梅隆大学）；Samsung Research America（三星美国研究院）
Humans are able to understand and perform complex tasks by strategically structuring the tasks into incremental steps or subgoals. For a robot attempting to learn to perform a sequential task with critical subgoal states, such states can provide a natural opportunity for interaction with a human expert. This paper analyzes the benefit of incorporating a notion of subgoals into Inverse Reinforcement Learning (IRL) with a Human-In-The-Loop (HITL) framework. The learning process is interactive, with a human expert first providing input in the form of full demonstrations along with some subgoal st…
Technion - I.I.T（以色列理工学院）；University of Haifa（海法大学）
As reinforcement learning methods increasingly amass accomplishments, the need for comprehending their solutions becomes more crucial. Most explainable reinforcement learning (XRL) methods generate a static explanation depicting their developers' intuition of what should be explained and how. In contrast, literature from the social sciences proposes that meaningful explanations are structured as a dialog between the explainer and the explainee, suggesting a more active role for the user and her communication with the agent. In this paper, we present ASQ-IT -- an interactive tool that presents …
StethoMe（StethoMe公司）；Poznań University of Technology（波兹南理工大学）；University of Medical Sciences（医科大学）；Adam Mickiewicz University（亚当·密茨凯维奇大学）
To perform a precise auscultation for the purposes of examination of respiratory system normally requires the presence of an experienced doctor. With most recent advances in machine learning and artificial intelligence, automatic detection of pathological breath phenomena in sounds recorded with stethoscope becomes a reality. But to perform a full auscultation in home environment by layman is another matter, especially if the patient is a child. In this paper we propose a unique application of Reinforcement Learning for training an agent that interactively guides the end user throughout the au…
In cooperation, the workers must know how co-workers behave. However, an agent's policy, which is embedded in a statistical machine learning model, is hard to understand, and requires much time and knowledge to comprehend. Therefore, it is difficult for people to predict the behavior of machine learning robots, which makes Human Robot Cooperation challenging. In this paper, we propose Instruction-based Behavior Explanation (IBE), a method to explain an autonomous agent's future behavior. In IBE, an agent can autonomously acquire the expressions to explain its own behavior by reusing the instru…
Recently, interactive recommendation systems based on reinforcement learning have been attended by researchers due to the consider recommendation procedure as a dynamic process and update the recommendation model based on immediate user feedback, which is neglected in traditional methods. The existing works have two significant drawbacks. Firstly, inefficient ranking function to produce the Top-N recommendation list. Secondly, focusing on recommendation accuracy and inattention to other evaluation metrics such as diversity. This paper proposes a deep reinforcement learning based recommendation…
Honda Research Institute Japan Co., Ltd（本田日本研究所）；College of Information Science and Engineering, Ocean University of China（中国海洋大学信息科学与工程学院）
Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning (GAIL) -- a general model-free imitation learning method, allows robots to directly learn policies from expert trajectories in large environments. However, GAIL shares the limitation of other imitation learning methods that they can seldom surpass the performance of demonstrations. In this paper, to address the limit of GAIL, we propose GAN-Based Interactiv…
EPFL（洛桑联邦理工学院）；Max Planck Institute for Software Systems（马克斯·普朗克软件系统研究所）
We study the problem of inverse reinforcement learning (IRL) with the added twist that the learner is assisted by a helpful teacher. More formally, we tackle the following algorithmic question: How could a teacher provide an informative sequence of demonstrations to an IRL learner to speed up the learning process? We present an interactive teaching framework where a teacher adaptively chooses the next demonstration based on learner's current policy. In particular, we design teaching algorithms for two concrete settings: an omniscient setting where a teacher has full knowledge about the learner…
Shanghai Jiao Tong University（上海交通大学）；East China Normal University（华东师范大学）；Tongji University（同济大学）
Interactive segmentation has recently been explored to effectively and efficiently harvest high-quality segmentation masks by iteratively incorporating user hints. While iterative in nature, most existing interactive segmentation methods tend to ignore the dynamics of successive interactions and take each interaction independently. We here propose to model iterative interactive image segmentation with a Markov decision process (MDP) and solve it with reinforcement learning (RL) where each voxel is treated as an agent. Considering the large exploration space for voxel-wise prediction and the de…
Dalian University of Technology（大连理工大学）；Ocean University of China（中国海洋大学）
Providing reinforcement learning agents with informationally rich human knowledge can dramatically improve various aspects of learning. Prior work has developed different kinds of shaping methods that enable agents to learn efficiently in complex environments. All these methods, however, tailor human guidance to agents in specialized shaping procedures, thus embodying various characteristics and advantages in different domains. In this paper, we investigate the interplay between different shaping methods for more robust learning performance. We propose an adaptive shaping algorithm which is ca…
University of Luxembourg（卢森堡大学）；Illinois Institute of Technology（伊利诺伊理工学院）；Vail Systems, Inc.（韦尔系统公司）
The retail banking services are one of the pillars of the modern economic growth. However, the evolution of the client's habits in modern societies and the recent European regulations promoting more competition mean the retail banks will encounter serious challenges for the next few years, endangering their activities. They now face an impossible compromise: maximizing the satisfaction of their hyper-connected clients while avoiding any risk of default and being regulatory compliant. Therefore, advanced and novel research concepts are a serious game-changer to gain a competitive advantage. In …
Ocean University of China（中国海洋大学）；Honda Research Institute Japan Co. Ltd.（本田日本研究院有限公司）
TAMER has proven to be a powerful interactive reinforcement learning method for allowing ordinary people to teach and personalize autonomous agents' behavior by providing evaluative feedback. However, a TAMER agent planning with UCT---a Monte Carlo Tree Search strategy, can only update states along its path and might induce high learning cost especially for a physical robot. In this paper, we propose to drive the agent's exploration along the optimal path and reduce the learning cost by initializing the agent's reward function via inverse reinforcement learning from demonstration. We test our …
Digital human recommendation system has been developed to help customers find their favorite products and is playing an active role in various recommendation contexts. How to timely catch and learn the dynamics of the preferences of the customers, while meeting their exact requirements, becomes crucial in the digital human recommendation domain. We design a novel practical digital human interactive recommendation agent framework based on Reinforcement Learning(RL) to improve the efficiency of the interactive recommendation decision-making by leveraging both the digital human features and the s…
Text-based games are a natural challenge domain for deep reinforcement learning algorithms. Their state and action spaces are combinatorially large, their reward function is sparse, and they are partially observable: the agent is informed of the consequences of its actions through textual feedback. In this paper we emphasize this latter point and consider the design of a deep reinforcement learning agent that can play from feedback alone. Our design recognizes and takes advantage of the structural characteristics of text-based games. We first propose a contextualisation mechanism, based on acc…
IBM Research（IBM研究院）；MIT-IBM Watson AI Lab（麻省理工学院-IBM沃森人工智能实验室）
Interactive Fiction (IF) games with real human-written natural language texts provide a new natural evaluation for language understanding techniques. In contrast to previous text games with mostly synthetic texts, IF games pose language understanding challenges on the human-written textual descriptions of diverse and sophisticated game worlds and language generation challenges on the action command generation from less restricted combinatorial space. We take a novel perspective of IF game solving and re-formulate it as Multi-Passage Reading Comprehension (MPRC) tasks. Our approaches utilize th…
Conveying complex objectives to reinforcement learning (RL) agents can often be difficult, involving meticulous design of reward functions that are sufficiently informative yet easy enough to provide. Human-in-the-loop RL methods allow practitioners to instead interactively teach agents through tailored feedback; however, such approaches have been challenging to scale since human feedback is very expensive. In this work, we aim to make this process more sample- and feedback-efficient. We present an off-policy, interactive RL algorithm that capitalizes on the strengths of both feedback and off-…
To meet the growing interest in Deep Reinforcement Learning (DRL), we sought to construct a DRL-driven Atari Pong agent and accompanying visualization tool. Existing approaches do not support the flexibility required to create an interactive exhibit with easily-configurable physics and a human-controlled player. Therefore, we constructed a new Pong game environment, discovered and addressed a number of unique data deficiencies that arise when applying DRL to a new environment, architected and tuned a policy gradient based DRL model, developed a real-time network visualization, and combined the…
Most common navigation tasks in human environments require auxiliary arm interactions, e.g. opening doors, pressing buttons and pushing obstacles away. This type of navigation tasks, which we call Interactive Navigation, requires the use of mobile manipulators: mobile bases with manipulation capabilities. Interactive Navigation tasks are usually long-horizon and composed of heterogeneous phases of pure navigation, pure manipulation, and their combination. Using the wrong part of the embodiment is inefficient and hinders progress. We propose HRL4IN, a novel Hierarchical RL architecture for Inte…
Universität Hamburg（汉堡大学）；Universidad Central de Chile（智利中央大学）
Interactive reinforcement learning (IRL) extends traditional reinforcement learning (RL) by allowing an agent to interact with parent-like trainers during a task. In this paper, we present an IRL approach using dynamic audio-visual input in terms of vocal commands and hand gestures as feedback. Our architecture integrates multi-modal information to provide robust commands from multiple sensory cues along with a confidence value indicating the trustworthiness of the feedback. The integration process also considers the case in which the two modalities convey incongruent information. Additionally…
University of Lincoln（林肯大学）；University of Toulouse III（图卢兹第三大学）
Training robots to perceive, act and communicate using multiple modalities still represents a challenging problem, particularly if robots are expected to learn efficiently from small sets of example interactions. We describe a learning approach as a step in this direction, where we teach a humanoid robot how to play the game of noughts and crosses. Given that multiple multimodal skills can be trained to play this game, we focus our attention to training the robot to perceive the game, and to interact in this game. Our multimodal deep reinforcement learning agent perceives multimodal features a…
Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic, to address the uncertainties in human behavior. Such prediction should also be interactive, since the distribution over all possible trajectories of the predicted vehicle depends not only on historical information, but also on future plans of other vehicles that interact with it. To achieve such interaction-aware predictions, we propose a probabilistic predic…
Interactive Double Deep Q-network: Integrating Human Interventions and Evaluative Predictions in Reinforcement Learning of Autonomous Driving
Center for Applied Autonomous Sensor Systems (AASS)（应用自主传感器系统中心）；Örebro University（奥雷布罗大学）；Computer Vision Laboratory（计算机视觉实验室）；Linköping University（利德斯霍尔大学）
Beijing Institute of Technology（北京理工大学）；Delft University of Technology（代尔夫特理工大学）；Nanyang Technological University（南洋理工大学）
An efficient and reliable multi-agent decision-making system is highly demanded for the safe and efficient operation of connected autonomous vehicles in intelligent transportation systems. Current researches mainly focus on the Deep Reinforcement Learning (DRL) methods. However, utilizing DRL methods in interactive traffic scenarios is hard to represent the mutual effects between different vehicles and model the dynamic traffic environments due to the lack of interactive information in the representation of the environments, which results in low accuracy of cooperative decisions generation. To…
MedSAM-Agent: Empowering Interactive Medical Image Segmentation with Multi-turn Agentic Reinforcement Learning
Chinese University of Hong Kong, Hong Kong SAR, China（香港中文大学）；Hunyuan Group, Tencent（腾讯洪音集团）；Institute of Automation, the Chinese Academy of Sciences, Beijing, China（中国科学院自动化研究所）；Dalian University of Technology, Dalian, China（大连理工大学）；Stanford University, Stanford, USA（斯坦福大学）
Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access to a human expert, and learning from intermediate forms of supervision (like binary preferences) is time-consuming and extracts little information from each human intervention. Can we overcome these challenges by building agents that learn from rich, interactive feedback instead? We propose a new supervision paradigm for interactive learning based on "teacha…
Institute of Computational and Mathematical Engineering（计算与数学工程研究所）
Interactive adaptive systems powered by Reinforcement Learning (RL) have many potential applications, such as intelligent tutoring systems. In such systems there is typically an external human system designer that is creating, monitoring and modifying the interactive adaptive system, trying to improve its performance on the target outcomes. In this paper we focus on algorithmic foundation of how to help the system designer choose the set of sensors or features to define the observation space used by reinforcement learning agent. We present an algorithm, value driven representation (VDR), that …
