Abstract
Human-in-the-loop Reinforcement Learning has become a popular approach to training, finetuning, and aligning robot behavior with user preferences. This paper explores the feasibility of using brain signals via functional near-infrared spectroscopy (fNIRS) to modulate robot learning in simulation. We compare agents trained on passive (observational) versus active (demonstrative) interaction tasks, and test multiple methods for enhancing the RL algorithm, focusing on parameter augmentation rather than replacement.
We further examine how model granularity and noise affect agent learning. Our results show that this framework is effective: the neural signal improves learning when augmenting trajectory priorities and state-action q-values. Additionally, the framework learns successfully from offline data, offering a practical alternative for settings where real-time BCI setups are impractical or only limited data is available.
Blogger's Review: This research demonstrates how to integrate brain signals into reinforcement learning, opening up new avenues for robot learning. The utilization of offline data provides flexibility, especially in resource-constrained environments, highlighting its practical application potential.