Decision Making for Human-in-the-loop Robotic Agents via Uncertainty-Aware Reinforcement Learning

Siddharth Singi,Zhanpeng He,Alvin Pan,Sandip Patel,Gunnar A. Sigurdsson,Robinson Piramuthu,Shuran Song,Matei Ciocarlie,Siddharth Singi,Zhanpeng He,Alvin Pan,Sandip Patel,Gunnar A. Sigurdsson,Robinson Piramuthu,Shuran Song,Matei Ciocarlie

In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly autonomously in solving a task, but can request help from an external expert when needed. However, knowing when to request such assistance is critical: too few requests can lead to the robot making mistakes, but too many requests can overload the expert. In this paper, we present a Reinforcement Learning based approach to this ...