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Conference papers

Simultaneous Acquisition of Task and Feedback Models

Abstract : We present a system to learn task representations from ambiguous feedback. We consider an inverse reinforcement learner that receives feedback from a teacher with an unknown and noisy protocol. The system needs to estimate simultaneously what the task is (i.e. how to find a compact representation to the task goal), and how the teacher is providing the feedback. We further explore the problem of ambiguous protocols by considering that the words used by the teacher have an unknown relation with the action and meaning expected by the robot. This allows the system to start with a set of known signs and learn the meaning of new ones. We present computational results that show that it is possible to learn the task under a noisy and ambiguous feedback. Using an active learning approach, the system is able to reduce the length of the training period.
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https://hal.archives-ouvertes.fr/hal-00636166
Contributor : Manuel Lopes Connect in order to contact the contributor
Submitted on : Wednesday, October 26, 2011 - 10:21:08 PM
Last modification on : Saturday, March 26, 2022 - 3:18:12 AM
Long-term archiving on: : Friday, January 27, 2012 - 2:36:35 AM

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Manuel Lopes, Thomas Cederborg, Pierre-yves Oudeyer. Simultaneous Acquisition of Task and Feedback Models. Development and Learning (ICDL), 2011 IEEE International Conference on, 2011, Germany. pp.1 - 7, ⟨10.1109/DEVLRN.2011.6037359⟩. ⟨hal-00636166⟩

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