The upcoming Doctoral Research Seminar this Monday will present "Learning while Sleeping: Integrating Sleep-Inspired Consolidation with Human Feedback Learning" by Imene Tarakli

June 24th 10:30-11:30 in room 2026, Karlstr. 45

Sleep plays a vital role in developmental learning. It allows the brain to consolidate daily learning experiences by replaying the memories accumulated throughout the day. In this work, we take inspiration from sleep and propose the Inverse Forward Offline Reinforcement Model (INFORM), a scalable framework that first learns a set of behaviours from human evaluative feedback, then consolidates the learning by applying an offline inverse reinforcement learning to the memorised trajectories.  Experimental results demonstrate that INFORM is a feedback-efficient method that effectively learns an optimal policy that align with the intended behaviour of the human. A comparative analysis shows that the learnt policies are robust to dynamics changes in the environment and the recovered rewards allows the robot to be autonomous in its learning.

#humanoid #robotics