Learning When to Ask for Help: Efficient Interactive Navigation via Implicit Uncertainty Estimation
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arXiv
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| Format: | Preprint |
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2023
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| _version_ | 1866914828514230272 |
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| author | Igbinedion, Ifueko Karaman, Sertac |
| author_facet | Igbinedion, Ifueko Karaman, Sertac |
| contents | Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data collection and model refinement may be impractical in every environment. Approaches that utilize human demonstrations through manual operation can aid in refinement and generalization, but often require significant data collection efforts to generate enough demonstration data to achieve satisfactory task performance. Interactive approaches allow for humans to provide correction to robot action in real time, but intervention policies are often based on explicit factors related to state and task understanding that may be difficult to generalize. Addressing these challenges, we train a lightweight interaction policy that allows robots to decide when to proceed autonomously or request expert assistance at estimated times of uncertainty. An implicit estimate of uncertainty is learned via evaluating the feature extraction capabilities of the robot's visual navigation policy. By incorporating part-time human interaction, robots recover quickly from their mistakes, significantly improving the odds of task completion. Incorporating part-time interaction yields an increase in success of 0.38 with only a 0.3 expert interaction rate within the Habitat simulation environment using a simulated human expert. We further show success transferring this approach to a new domain with a real human expert, improving success from less than 0.1 with an autonomous agent to 0.92 with a 0.23 human interaction rate. This approach provides a practical means for robots to interact and learn from humans in real-world settings. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2305_16502 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Learning When to Ask for Help: Efficient Interactive Navigation via Implicit Uncertainty Estimation Igbinedion, Ifueko Karaman, Sertac Robotics I.2.9 Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data collection and model refinement may be impractical in every environment. Approaches that utilize human demonstrations through manual operation can aid in refinement and generalization, but often require significant data collection efforts to generate enough demonstration data to achieve satisfactory task performance. Interactive approaches allow for humans to provide correction to robot action in real time, but intervention policies are often based on explicit factors related to state and task understanding that may be difficult to generalize. Addressing these challenges, we train a lightweight interaction policy that allows robots to decide when to proceed autonomously or request expert assistance at estimated times of uncertainty. An implicit estimate of uncertainty is learned via evaluating the feature extraction capabilities of the robot's visual navigation policy. By incorporating part-time human interaction, robots recover quickly from their mistakes, significantly improving the odds of task completion. Incorporating part-time interaction yields an increase in success of 0.38 with only a 0.3 expert interaction rate within the Habitat simulation environment using a simulated human expert. We further show success transferring this approach to a new domain with a real human expert, improving success from less than 0.1 with an autonomous agent to 0.92 with a 0.23 human interaction rate. This approach provides a practical means for robots to interact and learn from humans in real-world settings. |
| title | Learning When to Ask for Help: Efficient Interactive Navigation via Implicit Uncertainty Estimation |
| topic | Robotics I.2.9 |
| url | https://arxiv.org/abs/2305.16502 |