Learn Task First or Learn Human Partner First: A Hierarchical Task Decomposition Method for Human-Robot Cooperation
- Resource Type
- Conference
- Authors
- Tao, Lingfeng; Bowman, Michael; Zhang, Jiucai; Zhang, Xiaoli
- Source
- 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC) Systems, Man, and Cybernetics (SMC), 2021 IEEE International Conference on. :590-595 Oct, 2021
- Subject
- Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Performance evaluation
Conferences
Reinforcement learning
Control systems
Resource management
Task analysis
Robots
- Language
- ISSN
- 2577-1655
Applying Deep Reinforcement Learning (DRL) to Human-Robot Cooperation (HRC) in dynamic control problems is promising yet challenging as the robot needs to learn the dynamics of the controlled system and dynamics of the human partner. In existing research, the robot powered by DRL adopts coupled observation of the environment and the human partner to learn both dynamics simultaneously. However, such a learning strategy is limited in terms of learning efficiency and team performance. This work proposes a novel task decomposition method with a hierarchical reward mechanism that enables the robot to learn the hierarchical dynamic control task separately from learning the human partner’s behavior. The method is validated with a hierarchical control task in a simulated environment with human subject experiments. Our method also provides insight into the design of the learning strategy for HRC. The results show that the robot should learn the task first to achieve higher team performance and learn the human first to achieve higher learning efficiency.