Explainable and Interpretable Reinforcement Learning for Robotics
Series: Synthesis Lectures on Artificial Intelligence and Machine Learning;
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Product details:
- Edition number 2024
- Publisher Springer International Publishing
- Date of Publication 20 March 2024
- Number of Volumes 1 pieces, Book
- ISBN 9783031475177
- Binding Hardback
- No. of pages114 pages
- Size 240x168 mm
- Language English
- Illustrations XV, 114 p. 14 illus., 13 illus. in color. Illustrations, black & white 547
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Long description:
This book surveys the state of the art in explainable and interpretable reinforcement learning (RL) as relevant for robotics. While RL in general has grown in popularity and been applied to increasingly complex problems, several challenges have impeded the real-world adoption of RL algorithms for robotics and related areas. These include difficulties in preventing safety constraints from being violated and the issues faced by systems operators who desire explainable policies and actions. Robotics applications present a unique set of considerations and result in a number of opportunities related to their physical, real-world sensory input and interactions.
The authors consider classification techniques used in past surveys and papers and attempt to unify terminology across the field. The book provides an in-depth exploration of 12 attributes that can be used to classify explainable/interpretable techniques. These include whether the RL method is model-agnostic or model-specific, self-explainable or post-hoc, as well as additional analysis of the attributes of scope, when-produced, format, knowledge limits, explanation accuracy, audience, predictability, legibility, readability, and reactivity. The book is organized around a discussion of these methods broken down into 42 categories and subcategories, where each category can be classified according to some of the attributes. The authors close by identifying gaps in the current research and highlighting areas for future investigation.Table of Contents:
Introduction.- Classification System.- Explainable Methods Organized by Category.- 4 Key Considerations and Resources.- Opportunities, Challenges, and Future Directions.
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