Article ; Online: Incremental Learning of Goal-Directed Actions in a Dynamic Environment by a Robot Using Active Inference.
2023 Volume 25, Issue 11
Abstract: This study investigated how a physical robot can adapt goal-directed actions in dynamically changing environments, in real-time, using an active inference-based approach with incremental learning from human tutoring examples. Using our active inference- ... ...
| Abstract | This study investigated how a physical robot can adapt goal-directed actions in dynamically changing environments, in real-time, using an active inference-based approach with incremental learning from human tutoring examples. Using our active inference-based model, while good generalization can be achieved with appropriate parameters, when faced with sudden, large changes in the environment, a human may have to intervene to correct actions of the robot in order to reach the goal, as a caregiver might guide the hands of a child performing an unfamiliar task. In order for the robot to learn from the human tutor, we propose a new scheme to accomplish incremental learning from these proprioceptive-exteroceptive experiences combined with mental rehearsal of past experiences. Our experimental results demonstrate that using only a few tutoring examples, the robot using our model was able to significantly improve its performance on new tasks without catastrophic forgetting of previously learned tasks. |
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| Language | English |
| Publishing date | 2023-10-31 |
| Publishing country | Switzerland |
| Document type | Journal Article |
| ZDB-ID | 2014734-X |
| ISSN | 1099-4300 ; 1099-4300 |
| ISSN (online) | 1099-4300 |
| ISSN | 1099-4300 |
| DOI | 10.3390/e25111506 |
| Database | MEDical Literature Analysis and Retrieval System OnLINE |
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