Towards open and expandable cognitive AI architectures for large-scale multi-agent human-robot collaborative learning
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Learning from Demonstration (LfD) constitutes one of the most robust methodologies for constructing efficient cognitive robotic systems. Current key challenges in the field include those of multi-agent learning and long-term autonomy. Towards this direction, a novel cognitive architecture for multi-agent LfD robotic learning is introduced in this paper, targeting to enable the reliable deployment of open, scalable and expandable robotic systems in large-scale and complex environments. In particular, the designed architecture capitalizes on the recent advances in the Artificial Intelligence (AI) (and especially the Deep Learning (DL)) field, by establishing a Federated Learning (FL)-based framework for incarnating a multi-human multi-robot collaborative learning environment. The fundamental conceptualization relies on employing multiple AI-empowered cognitive processes (implementing various robotic tasks) that operate at the edge nodes of a network of robotic platforms, while global AI models (underpinning the aforementioned robotic tasks) are collectively created and shared among the network, by elegantly combining information from a large number of human-robot interaction instances. Pivotal novelties of the designed cognitive architecture include: a) it introduces a new FL-based formalism that extends the conventional LfD learning paradigm to support large-scale multi-agent operational settings, b) it elaborates previous FL-based self-learning robotic schemes so as to incorporate the human in the learning loop, and c) it consolidates the fundamental principles of FL with additional sophisticated AI-enabled learning methodologies for modelling the multi-level inter-dependencies among the robotic tasks. The applicability of the proposed framework is explained using an example of a real-world industrial case study for agile production-based Critical Raw Materials (CRM) recovery.
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