Disney Research



We explore online reinforcement learning techniques to find good policies to control the orientation of a mobile robot during social group conversations. In this scenario, we assume that the correct behavior for the robot should convey attentiveness to the focus of attention of the conversation. Thus, the robot should turn towards the speaker. Our results from tests in a simulated environment show that a new state representation that we designed for this problem can be used to find good policies for the robot. These policies can generalize across interactions with different numbers of people and can handle various levels of sensing noise.

Additional Content

Copyright Notice

The documents contained in these directories are included by the contributing authors as a means to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.