Expert Intervention Learning: An online framework for robot learning from explicit and implicit human feedback

Jonathan Spencer, Sanjiban Choudhury, Matthew Barnes, Matthew Schmittle, Mung Chiang, Peter Ramadge, Sidd Srinivasa

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

Scalable robot learning from human-robot interaction is critical if robots are to solve a multitude of tasks in the real world. Current approaches to imitation learning suffer from one of two drawbacks. On the one hand, they rely solely on off-policy human demonstration, which in some cases leads to a mismatch in train-test distribution. On the other, they burden the human to label every state the learner visits, rendering it impractical in many applications. We argue that learning interactively from expert interventions enjoys the best of both worlds. Our key insight is that any amount of expert feedback, whether by intervention or non-intervention, provides information about the quality of the current state, the quality of the action, or both. We formalize this as a constraint on the learner’s value function, which we can efficiently learn using no regret, online learning techniques. We call our approach Expert Intervention Learning (EIL), and evaluate it on a real and simulated driving task with a human expert, where it learns collision avoidance from scratch with just a few hundred samples (about one minute) of expert control.

Original languageEnglish (US)
Pages (from-to)99-113
Number of pages15
JournalAutonomous Robots
Volume46
Issue number1
DOIs
StatePublished - Jan 2022

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence

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