Biblio
This paper focuses on the creation of information centric Cyber-Human Learning Frameworks involving Virtual Reality based mediums. A generalized framework is proposed, which is adapted for two educational domains: one to support education and training of residents in orthopedic surgery and the other focusing on science learning for children with autism. Users, experts and technology based mediums play a key role in the design of such a Cyber-Human framework. Virtual Reality based immersive and haptic mediums were two of the technologies explored in the implementation of the framework for these learning domains. The proposed framework emphasizes the importance of Information-Centric Systems Engineering (ICSE) principles which emphasizes a user centric approach along with formalizing understanding of target subjects or processes for which the learning environments are being created.
For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to obtain impressive results, its stability and reliability is hard to guarantee, which would cause the potential safety threats. Besides, the transfer from simulation to real-world also will lead in unpredictable situations. To enhance the safety and reliability of robots, we introduce the force and haptic perception into reinforcement learning. Force and tactual sensation play key roles in robotic dynamic control and human-robot interaction. We demonstrate that the force-based reinforcement learning method can be more adaptive to environment, especially in sim-to-real transfer. Experimental results show in object pushing task, our strategy is safer and more efficient in both simulation and real world, thus it holds prospects for a wide variety of robotic applications.