Robots can learn the right reward function by querying a human expert. Existing approaches attempt to choose questions where the robot is most uncertain about the humans response; however, they do not consider how easy it will be for the human to answer! In this paper we explore an information gain formulation for optimally selecting questions that naturally account for the humans ability to answer. Our approach identifies questions that optimize the trade-off between robot and human uncertainty, and determines when these questions become redundant or costly. Simulations and a user study show our method not only produces easy questions, but also ultimately results in faster reward learning.
Download