Action Representations: from Shared Control to Supervised Autonomy

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• Freek Stulp, DLR (German Aerospace Centre)
• Friday 12 March 2021, 10:00-11:00
• https://bham-ac-uk.zoom.us/j/85739419424?pwd=MitzRmVqZm5DY0pxeUpzc1hNcEY0UT09.

If you have a question about this talk, please contact Martin Rudorfer.

In robotics, the appropriate level of autonomy depends on the requirements of the specific mission and task. Therefore, the Institute of Robotics and Mechatronics investigates a whole spectrum of robotic autonomy, including telepresence, shared control, supervised autonomy, and extended autonomy. In this presentation, I will focus on the action representations that the Department of Cognitive Robotics develops to be able to span this spectrum. First, I will present Action Templates, which provide a hybrid planning framework that is used for both autonomous planning and supervised autonomy. Second, the Shared Control Templates approach allows for seamless transitions between autonomous task completion and shared control with low-dimensional human input commands. Finally, I will argue that we should stop playing “hunt the thimble” in robotic reinforcement learning, and that the action representation above will enable robots to learn efficiently during operation.

This talk is part of the IRLab Seminars: Robotics, Computer Vision & AI series.

This talk is included in these lists:

• IRLab Seminars: Robotics, Computer Vision & AI
• https://bham-ac-uk.zoom.us/j/85739419424?pwd=MitzRmVqZm5DY0pxeUpzc1hNcEY0UT09

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