Related papers: Comparing Human-Centric and Robot-Centric Sampling…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

As reinforcement learning (RL) achieves more success in solving complex tasks, more care is needed to ensure that RL research is reproducible and that algorithms herein can be compared easily and fairly with minimal bias. RL results are,…

Recent advances in contrastive learning have enlightened diverse applications across various semi-supervised fields. Jointly training supervised learning and unsupervised learning with a shared feature encoder becomes a common scheme.…

Imitation learning (IL) with human demonstrations is a promising method for robotic manipulation tasks. While minimal demonstrations enable robotic action execution, achieving high success rates and generalization requires high cost, e.g.,…

Reinforcement learning (RL) and trajectory optimization (TO) present strong complementary advantages. On one hand, RL approaches are able to learn global control policies directly from data, but generally require large sample sizes to…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

Learning interpretable models has become a major focus of machine learning research, given the increasing prominence of machine learning in socially important decision-making. Among interpretable models, rule lists are among the best-known…

Value function based reinforcement learning (RL) algorithms, for example, $Q$-learning, learn optimal policies from datasets of actions, rewards, and state transitions. However, when the underlying state transition dynamics are stochastic…

Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence. However, as robots and humans come closer…

We present Robot-centric Pooling (RcP), a novel pooling method designed to enhance end-to-end visuomotor policies by enabling differentiation between the robots and similar entities or their surroundings. Given an image-proprioception pair,…

Despite the significant success at enabling robots with autonomous behaviors makes deep reinforcement learning a promising approach for robotic object search task, the deep reinforcement learning approach severely suffers from the nature…

Deep reinforcement learning could be used to learn dexterous robotic policies but it is challenging to transfer them to new robots with vastly different hardware properties. It is also prohibitively expensive to learn a new policy from…

Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…

The pursuit of data efficiency, where quality outweighs quantity, has emerged as a cornerstone in robotic manipulation, especially given the high costs associated with real-world data collection. We propose that maximizing the informational…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

Reinforcement learning (RL) has demonstrated its ability to solve high dimensional tasks by leveraging non-linear function approximators. However, these successes are mostly achieved by 'black-box' policies in simulated domains. When…

Speakers build rapport in the process of aligning conversational behaviors with each other. Rapport engendered with a teachable agent while instructing domain material has been shown to promote learning. Past work on lexical alignment in…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…

Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…