Towards Human-Like Learning Dynamics in a Simulated Humanoid Robot for Improved Human-Machine Teaming

Akshay, Xulin Chen, Borui He, Garrett E. Katz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A potential barrier to an effective human-machine team is the mismatch between the learning dynamics of each teammate. Humans often master new cognitive-motor tasks quickly, but not instantaneously. In contrast, artificial systems often solve new tasks instantaneously (e.g., knowledge-based planning agents) or learn much more slowly than humans (e.g., reinforcement learning agents). In this work, we present our ongoing work on a robotic control architecture that blends planning and memory to produce more human-like learning dynamics. We empirically assess current implementations of four main components in this architecture: object manipulation, full-body motor control, robot vision, and imitation learning. Assessment is conducted using a simulated humanoid robot performing a maintenance task in a virtual tabletop setting. Finally, we discuss the prospects for using this learning architecture with human teammates in virtual and ultimately physical environments.

Original languageEnglish (US)
Title of host publicationAugmented Cognition - 16th International Conference, AC 2022, Held as Part of the 24th HCI International Conference, HCII 2022, Proceedings
EditorsDylan D. Schmorrow, Cali M. Fidopiastis
PublisherSpringer Science and Business Media Deutschland GmbH
Pages225-241
Number of pages17
ISBN (Print)9783031054563
DOIs
StatePublished - 2022
Event16th International Conference on Augmented Cognition, AC 2022 Held as Part of the 24th HCI International Conference, HCII 2022 - Virtual, Online
Duration: Jun 26 2022Jul 1 2022

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13310 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference16th International Conference on Augmented Cognition, AC 2022 Held as Part of the 24th HCI International Conference, HCII 2022
CityVirtual, Online
Period6/26/227/1/22

Keywords

  • Human-machine teaming
  • Humanoid robotics
  • Virtual environments

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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