In the future, robots will be used more extensively as assistants in home scenarios and must be able to acquire expertise from trainers by learning through crossmodal interaction. One promising approach is interactive reinforcement learning (IRL) where an external trainer advises an apprentice on actions to speed up the learning process. In this paper we present an IRL approach for the domestic task of cleaning a table and compare three different learning methods using simulated robots: 1) reinforcement learning (RL); 2) RL with contextual affordances to avoid failed states; and 3) the previously trained robot serving as a trainer to a second apprentice robot. We then demonstrate that the use of IRL leads to different performance with various levels of interaction and consistency of feedback. Our results show that the simulated robot completes the task with RL, although working slowly and with a low rate of success. With RL and contextual affordances fewer actions are needed and can reach higher rates of success. For good performance with IRL it is essential to consider the level of consistency of feedback since inconsistencies can cause considerable delay in the learning process. In general, we demonstrate that interactive feedback provides an advantage for the robot in most of the learning cases.

Diabetes is a disease that occurs when the body presents an uncontrolled level of glucose that is capable of damaging the retina, leading to permanent damage of the eyes or vision loss. When diabetes affects the eyes, it is known as diabetic retinopathy, which became a global medical problem among elderly people. The fundus oculi technique involves observing the eyeball to diagnose or check the pathology evolution. In this work, we implement a convolutional neural network model to process a fundus oculi image to recognize the eyeball structure and determine the presence of diabetic retinopathy. The model’s parameters are optimized using the transfer-learning methodology for mapping an image with the corresponding label. The model training and testing are performed with a dataset of medical fundus oculi images and a pathology severity scale present in the eyeball as labels. The severity scale separates the images into five classes, from a healthy eyeball to a proliferative diabetic retinopathy presence. The latter is probably a blind patient. Our proposal presented an accuracy of 97.78%, allowing for the confident prediction of diabetic retinopathy in fundus oculi images.

Robots are extending their presence in domestic environments every day, it being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be able to acquire experience from different sources as quickly as possible. A plausible approach to address this issue is interactive feedback, where a trainer advises a learner on which actions should be taken from specific states to speed up the learning process. Moreover, deep reinforcement learning has been recently widely used in robotics to learn the environment and acquire new skills autonomously. However, an open issue when using deep reinforcement learning is the excessive time needed to learn a task from raw input images. In this work, we propose a deep reinforcement learning approach with interactive feedback to learn a domestic task in a Human–Robot scenario. We compare three different learning methods using a simulated robotic arm for the task of organizing different objects; the proposed methods are (i) deep reinforcement learning (DeepRL); (ii) interactive deep reinforcement learning using a previously trained artificial agent as an advisor (agent–IDeepRL); and (iii) interactive deep reinforcement learning using a human advisor (human–IDeepRL). We demonstrate that interactive approaches provide advantages for the learning process. The obtained results show that a learner agent, using either agent–IDeepRL or human–IDeepRL, completes the given task earlier and has fewer mistakes compared to the autonomous DeepRL approach.