McGuire, S; Furlong, PM; Heckman, C; Julier, S; Szafir, D; Ahmed, N; (2018) Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations. IEEE Robotics and Automation Letters , 3 (3) pp. 1639-1646. 10.1109/LRA.2018.2801468.

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Abstract

This letter considers the problem of how robots in long-term space operations can learn to choose appropriate sources of assistance to recover from failures. Current assistant selection methods for failure handling are based on manually specified static lookup tables or policies, which are not responsive to dynamic environments or uncertainty in human performance. We describe a novel and highly flexible learning-based assistant selection framework that uses contextual multiarm bandit algorithms. The contextual bandits exploit information from observed environment and assistant performance variables to efficiently learn selection policies under a wide set of uncertain operating conditions and unknown/dynamically constrained assistant capabilities. Proof of concept simulations of long-term human-robot interactions for space exploration are used to compare the performance of the contextual bandit against other state-of-the-art assistant selection approaches. The contextual bandit outperforms conventional static policies and noncontextual learning approaches, and also demonstrates favorable robustness and scaling properties.

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