Towards Transparency of TD-RL Robotic Systems with a Human Teacher

Understand

The high request for autonomous and flexible HRI implies the necessity of deploying Machine Learning (ML) mechanisms in the robot control.

• Indeed, the use of ML techniques, such as Reinforcement Learning (RL), makes the robot behaviour, during the learning process, not transparent to the observing user.
• In this work, we proposed an emotional model to improve the transparency in RL tasks for human-robot collaborative scenarios.
• The architecture we propose supports the RL algorithm with an emotional model able to both receive human feedback and exhibit emotional responses based on the learning process.