Title: Including Uncertainty when Learning from Human Corrections,
Abstract: It is difficult for humans to efficiently teach robots how to correctly
perform a task. One intuitive solution is for the robot to iteratively learn
the human's preferences from corrections, where the human improves the robot's
current behavior at each iteration. When learning from corrections, we argue
that while the robot should estimate the most likely human preferences, it
should also know what it does not know, and integrate this uncertainty as it
makes decisions. We advance the state-of-the-art by introducing a Kalman filter
for learning from corrections: this approach obtains the uncertainty of the
estimated human preferences. Next, we demonstrate how the estimate uncertainty
can be leveraged for active learning and risk-sensitive deployment. Our results
indicate that obtaining and leveraging uncertainty leads to faster learning
from human corrections.