IEEE Robotics & Automation Magazine - June 2020 - 46

Interactive Learning
of Temporal Features
for Control

©ISTOCKPHOTO.COM/BLACKLIGHT_TRACE,
ORANGE-IMAGE LICENSED BY INGRAM PUBLISHING

Shaping Policies and
State Representations
From Human Feedback

By Rodrigo Pérez-Dattari, Carlos Celemin, Giovanni Franzese,
Javier Ruiz-del-Solar, and Jens Kober

C

urrent ongoing industry revolution demands more
flexible products, including robots in household
environments and medium-scale factories. Such
robots should be able to adapt to new conditions
and environments and be programmed with
ease. As an example, let us suppose that there are robot

Digital Object Identifier 10.1109/MRA.2020.2983649
Date of current version: 22 April 2020

46

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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JUNE 2020

manipulators working on an industrial production line and
that they need to perform a new task. If these robots were hard
coded, it could take days to adapt them to the new settings,
which would stop production at the factory. Robots that
non-expert humans could easily program would speed up the
process considerably.
In this regard, we present a framework in which robots are
capable of quickly learning new control policies and state representations (SRs) by using occasional corrective human
1070-9932/20©2020IEEE



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IEEE Robotics & Automation Magazine - June 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2020

Contents
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IEEE Robotics & Automation Magazine - June 2020 - Cover3
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