Two-Level Reinforcement Learning Framework for Self-sustained Personal Robots

Koyo Fujii, Patrick Holthaus, Hooman Samani, Chinthaka Premachandra, Farshid Amirabdollahian

研究成果: Conference contribution

抄録

As social robots become integral to daily life, effective battery management and personalized user interactions are crucial. We employed Q-learning with the Miro-E robot for balancing self-sustained energy management and personalized user engagement. Based on our approach, we anticipate that the robot will learn when to approach the charging dock and adapt interactions according to individual user preferences. For energy management, the robot underwent iterative training in a simulated environment, where it could opt to either “play” or “go to the charging dock”. The robot also adapts its interaction style to a specific individual, learning which of three actions would be preferred based on feedback it would receive during real-world human-robot interactions. From an initial analysis, we identified a specific point at which the Q values are inverted, indicating the robot’s potential establishment of a battery threshold that triggers its decision to head to the charging dock in the energy management scenario. Moreover, by monitoring the probability of the robot selecting specific behaviours during human-robot interactions over time, we expect to gather evidence that the robot can successfully tailor its interactions to individual users in the realm of personalized engagement.

本文言語English
ホスト出版物のタイトルSocial Robotics - 15th International Conference, ICSR 2023, Proceedings
編集者Abdulaziz Al Ali, John-John Cabibihan, Nader Meskin, Silvia Rossi, Wanyue Jiang, Hongsheng He, Shuzhi Sam Ge
出版社Springer Science and Business Media Deutschland GmbH
ページ363-372
ページ数10
ISBN(印刷版)9789819987146
DOI
出版ステータスPublished - 2024
イベント15th International Conference on Social Robotics, ICSR 2023 - Doha, Qatar
継続期間: 2023 12月 32023 12月 7

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
14453 LNAI
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Conference

Conference15th International Conference on Social Robotics, ICSR 2023
国/地域Qatar
CityDoha
Period23/12/323/12/7

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータサイエンス一般

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