Natural methods for robot task learning: instructive demonstrations, generalization and practice
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
A survey of robot learning from demonstration
Robotics and Autonomous Systems
Interactive policy learning through confidence-based autonomy
Journal of Artificial Intelligence Research
Machine learning for interactive systems and robots: a brief introduction
Proceedings of the 2nd Workshop on Machine Learning for Interactive Systems: Bridging the Gap Between Perception, Action and Communication
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Research on robot learning from demonstration has seen significant growth in recent years, but existing evaluations have focused exclusively on algorithmic performance and not on usability factors, especially with respect to naïve users. Here we present findings from a comparative user study in which we asked non-experts to evaluate three distinctively different robot learning from demonstration algorithms - Behavior Networks, Interactive Reinforcement Learning, and Confidence Based Autonomy. Participants in the study showed a preference for interfaces where they controlled the robot directly (teleoperation and guidance) instead of providing retroactive feedback for past actions (reward and correction). Our results show that the best policy performance in most metrics was achieved using the Confidence Based Autonomy algorithm.