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Register a new userMulti-modal Feedback for Affordance-driven Interactive Reinforcement Learning
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German I. Parisi
Publication date
2018
fields
Informatics Engineering
and research's language is
English
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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, we modulate the influence of sensory-driven feedback in the IRL task using goal-oriented knowledge in terms of contextual affordances. We implement a neural network architecture to predict the effect of performed actions with different objects to avoid failed-states, i.e., states from which it is not possible to accomplish the task. In our experimental setup, we explore the interplay of multimodal feedback and task-specific affordances in a robot cleaning scenario. We compare the learning performance of the agent under four different conditions: traditional RL, multi-modal IRL, and each of these two setups with the use of contextual affordances. Our experiments show that the best performance is obtained by using audio-visual feedback with affordancemodulated IRL. The obtained results demonstrate the importance of multi-modal sensory processing integrated with goal-oriented knowledge in IRL tasks.
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The incorporation of macro-actions (temporally extended actions) into multi-agent decision problems has the potential to address the curse of dimensionality associated with such decision problems. Since macro-actions last for stochastic durations, multiple agents executing decentralized policies in cooperative environments must act asynchronously. We present an algorithm that modifies generalized advantage estimation for temporally extended actions, allowing a state-of-the-art policy optimization algorithm to optimize policies in Dec-POMDPs in which agents act asynchronously. We show that our algorithm is capable of learning optimal policies in two cooperative domains, one involving real-time bus holding control and one involving wildfire fighting with unmanned aircraft. Our algorithm works by framing problems as event-driven decision processes, which are scenarios in which the sequence and timing of actions and events are random and governed by an underlying stochastic process. In addition to optimizing policies with continuous state and action spaces, our algorithm also facilitates the use of event-driven simulators, which do not require time to be discretized into time-steps. We demonstrate the benefit of using event-driven simulation in the context of multiple agents taking asynchronous actions. We show that fixed time-step simulation risks obfuscating the sequence in which closely separated events occur, adversely affecting the policies learned. In addition, we show that arbitrarily shrinking the time-step scales poorly with the number of agents.
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In recent years, speech emotion recognition technology is of great significance in industrial applications such as call centers, social robots and health care. The combination of speech recognition and speech emotion recognition can improve the feedback efficiency and the quality of service. Thus, the speech emotion recognition has been attracted much attention in both industry and academic. Since emotions existing in an entire utterance may have varied probabilities, speech emotion is likely to be ambiguous, which poses great challenges to recognition tasks. However, previous studies commonly assigned a single-label or multi-label to each utterance in certain. Therefore, their algorithms result in low accuracies because of the inappropriate representation. Inspired by the optimally interacting theory, we address the ambiguous speech emotions by proposing a novel multi-classifier interactive learning (MCIL) method. In MCIL, multiple different classifiers first mimic several individuals, who have inconsistent cognitions of ambiguous emotions, and construct new ambiguous labels (the emotion probability distribution). Then, they are retrained with the new labels to interact with their cognitions. This procedure enables each classifier to learn better representations of ambiguous data from others, and further improves the recognition ability. The experiments on three benchmark corpora (MAS, IEMOCAP, and FAU-AIBO) demonstrate that MCIL does not only improve each classifiers performance, but also raises their recognition consistency from moderate to substantial.
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