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Robot self-directed learning method for human-machine cooperation

A technology of human-machine collaboration and autonomous learning, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems that affect the effect of learning

Inactive Publication Date: 2018-08-17
SOUTH CHINA UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Excessive exploration may affect the performance of the system, but it can improve the efficiency of learning; otherwise, it will affect the effect of learning

Method used

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  • Robot self-directed learning method for human-machine cooperation

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Embodiment Construction

[0016] The present invention will be described in further detail below in conjunction with the examples, but the embodiments of the present invention are not limited thereto. If there are any parts that are not specifically described in detail below, those skilled in the art can realize or understand with reference to the prior art.

[0017] A robot autonomous learning method oriented to human-machine collaboration, including the following steps:

[0018] S1. Design a deep learning method for human-machine collaboration at the level of target understanding to introduce human experience and knowledge;

[0019] S2. Introduce human evaluation and feedback to optimize the reinforcement learning algorithm at the task learning level.

[0020] The step S1 specifically includes:

[0021] First, a reduced feature set is used to identify the best candidates, and then, a larger, more reliable feature set is used to rank these candidates. However, these methods need to design two indepe...

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Abstract

The invention provides a robot self-directed learning method for human-machine cooperation. The robot self-directed learning method for the human-machine cooperation comprises a target understanding method for the human-machine cooperation and a task learning algorithm; the self-directed learning method allows a robot to perceive a target rapidly with the help of humans and achieve the objective of mastering a new skill rapidly by simulating actions of humans. The self-directed learning method comprises the steps of (1) designing a deep learning method for the human-machine cooperation on thetarget understanding plane and introducing the experiential knowledge of humans; and (2) introducing evaluation and feedback of humans on the task learning plane to optimize and strengthen a learningalgorithm. According to the method, the robot can conduct self-learning and online learning effectively by combining real-time feedback and teaching of humans.

Description

technical field [0001] The invention belongs to the field of robot motion, in particular to a robot autonomous learning method oriented to human-machine cooperation. Background technique [0002] Robot autonomous learning for human-machine collaboration needs to explore how to combine real-time feedback and teaching from humans so that robots can effectively perform self-learning and online learning. On the one hand, the sensing ability of the robot is limited, and the sensing data alone is not enough to infer the state of the environment and the optimal strategy for the operation. Due to the incomplete information of the robot, the "curse of dimensionality" problem often occurs in fully autonomous learning. How to use the information of human partners to better understand the environment and make better decisions during the learning process is a problem worthy of research. . On the other hand, the human-machine collaboration model similar to the master with apprentice nee...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 杜广龙张博刘彩冰张爱玲张平
Owner SOUTH CHINA UNIV OF TECH
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