EValueAction

EValueAction: a proposal for policy evaluation in simulation to support interactive imitation learning

Sibona, F. (Politecnico di Torino)
Luijkx, J.D. (TU Delft Learning & Autonomous Control)
van der Heijden, D.S. (TU Delft Learning & Autonomous Control)
Ferranti, L. (TU Delft Learning & Autonomous Control)
Indri, Marina (Politecnico di Torino)

Dorksen, Helene (editor)
Scanzio, Stefano (editor)
Jasperneite, Jurgen (editor)

2023

The up-and-coming concept of Industry 5.0 fore-sees human-centric flexible production lines, where collaborative robots support human workforce. In order to allow a seamless collaboration between intelligent robots and human workers, designing solutions for non-expert users is crucial. Learning from demonstration emerged as the enabling approach to address such a problem. However, more focus should be put on finding safe solutions which optimize the cost associated with the demonstrations collection process. This paper introduces a preliminary outline of a system, namely EValueAction (EVA), designed to assist the human in the process of collecting interactive demonstrations taking advantage of simulation to safely avoid failures. A policy is pre-trained with human-demonstrations and, where needed, new informative data are interactively gathered and aggregated to iteratively improve the initial policy. A trial case study further reinforces the relevance of the work by demonstrating the crucial role of informative demonstrations for generalization.

Human-centered manufacturing
Interactive imitation learning
Learning from Demonstration
Simulation

http://resolver.tudelft.nl/uuid:2d1e10b9-d435-4e4d-9867-de1ccd864d55

https://doi.org/10.1109/INDIN51400.2023.10218251

IEEE

2024-02-22

978-1-6654-9313-0

Proceedings of the IEEE 21st International Conference on Industrial Informatics, INDIN 2023

21st IEEE International Conference on Industrial Informatics, INDIN 2023, 2023-07-17 → 2023-07-20, Lemgo, Germany

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2023 F. Sibona, J.D. Luijkx, D.S. van der Heijden, L. Ferranti, Marina Indri