ASHA: Assistive Teleoperation via Human-in-the-Loop Reinforcement Learning
Sean Chen,Jensen Gao,Siddharth Reddy,Glen Berseth,Anca D. Dragan,Sergey Levine,Sean Chen,Jensen Gao,Siddharth Reddy,Glen Berseth,Anca D. Dragan,Sergey Levine
Building assistive interfaces for controlling robots through arbitrary, high-dimensional, noisy inputs (e.g., webcam images of eye gaze) can be challenging, especially when it involves inferring the user's desired action in the absence of a natural ‘default’ interface. Reinforcement learning from online user feedback on the system's performance presents a natural solution to this problem, and enab...
