Journal of Intelligent & Robotic Systems

, Volume 95, Issue 1, pp 77–97 | Cite as

An Interactive Framework for Learning Continuous Actions Policies Based on Corrective Feedback

  • Carlos CeleminEmail author
  • Javier Ruiz-del-Solar


The main goal of this article is to present COACH (COrrective Advice Communicated by Humans), a new learning framework that allows non-expert humans to advise an agent while it interacts with the environment in continuous action problems. The human feedback is given in the action domain as binary corrective signals (increase/decrease the current action magnitude), and COACH is able to adjust the amount of correction that a given action receives adaptively, taking state-dependent past feedback into consideration. COACH also manages the credit assignment problem that normally arises when actions in continuous time receive delayed corrections. The proposed framework is characterized and validated extensively using four well-known learning problems. The experimental analysis includes comparisons with other interactive learning frameworks, with classical reinforcement learning approaches, and with human teleoperators trying to solve the same learning problems by themselves. In all the reported experiments COACH outperforms the other methods in terms of learning speed and final performance. It is of interest to add that COACH has been applied successfully for addressing a complex real-world learning problem: the dribbling of the ball by humanoid soccer players.


Learning from demonstration Interactive machine learning Human feedback Human teachers Decision making systems 


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This work was partially funded by FONDECYT project 1161500 and CONICYT-PCHA/Doctorado Nacional/2015-21151488.

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© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Advanced Mining Technology Center & Department of Electrical EngineeringUniversidad de ChileSantiagoChile

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