Venue
- AAAI-2021
Date
- 2021
Share
Goal Blending for Responsive Shared Autonomy in a Navigating Vehicle
Yu-Sian Jiang*
Garrett Warnell*
* External authors
AAAI-2021
2021
Abstract
Human-robot shared autonomy techniques for vehicle navigation hold promise for reducing a human driver's workload, ensuring safety, and improving navigation efficiency. However, because typical techniques achieve these improvements by effectively removing human control at critical moments, these approaches often exhibit poor responsiveness to human commands—especially in cluttered environments. In this paper, we propose a novel goal-blending shared autonomy (GBSA) system, which aims to improve responsiveness in shared autonomy systems by blending human and robot input during the selection of local navigation goals as opposed to low-level motor (servo-level) commands. We validate the proposed approach by performing a human study involving an intelligent wheelchair and compare GBSA to a representative servo-level shared control system that uses a policy-blending approach. The results of both quantitative performance analysis and a subjective survey show that GBSA exhibits significantly better system responsiveness and induces higher user satisfaction than the existing approach.
Related Publications
Two desiderata of reinforcement learning (RL) algorithms are the ability to learn from relatively little experience and the ability to learn policies that generalize to a range of problem specifications. In factored state spaces, one approach towards achieving both goals is …
Robustly cooperating with unseen agents and human partners presents significant challenges due to the diverse cooperative conventions these partners may adopt. Existing Ad Hoc Teamwork (AHT) methods address this challenge by training an agent with a population of diverse tea…
We consider algorithms for learning reward functions from human preferences over pairs of trajectory segments---as used in reinforcement learning from human feedback (RLHF)---including those used to fine tune ChatGPT and other contemporary language models. Most recent work o…
JOIN US
Shape the Future of AI with Sony AI
We want to hear from those of you who have a strong desire
to shape the future of AI.
