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The recent rapid advancement of machine learning has been driven by increasingly powerful models with the growing availability of training data and computational resources. However, real-time decision-making tasks with limited time and…

Timely and high-quality feedback is essential for effective learning in programming courses; yet, providing such support at scale remains a challenge. While AI-based systems offer scalable and immediate help, their responses can…

Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous…

In this paper, we propose a novel learning-based robust feedback linearization strategy to ensure precise trajectory tracking for an important family of Lagrangian systems. We assume a nominal knowledge of the dynamics is given but no…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

The ability to compute an accurate reward function is essential for optimising a dialogue policy via reinforcement learning. In real-world applications, using explicit user feedback as the reward signal is often unreliable and costly to…

External feedback in the form of visual, auditory and tactile cues has been used to assist patients to overcome mobility challenges. However, these cues can become less effective over time. There is limited research on adapting cues to…

We propose a novel actor-critic, model-free reinforcement learning algorithm which employs a Bayesian method of parameter space exploration to solve environments. A Gaussian process is used to learn the expected return of a policy given the…

Integration of human feedback plays a key role in improving the learning capabilities of intelligent systems. This comparative study delves into the performance, robustness, and limitations of imitation learning compared to traditional…

Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages.…

A typical process of learning to play a piece on a piano consists of a progression through a series of practice units that focus on individual dimensions of the skill, the so-called practice modes. Practice modes in learning to play music…

A central challenge in human pose estimation, as well as in many other machine learning and prediction tasks, is the generalization problem. The learned network does not have the capability to characterize the prediction error, generate…

This study investigates the optimization of Generative AI (GenAI) systems through human feedback, focusing on how varying feedback mechanisms influence the quality of GenAI outputs. We devised a Human-AI training loop where 32 students,…

Designing an effective reward function has long been a challenge in reinforcement learning, particularly for complex tasks in unstructured environments. To address this, various learning paradigms have emerged that leverage different forms…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

We present new algorithms for inverse reinforcement learning (IRL, or inverse optimal control) in convex optimization settings. We argue that finite-space IRL can be posed as a convex quadratic program under a Bayesian inference framework…

This paper contributes to the human-machine interface community in two ways: as a critique of the closed-loop AC (augmented cognition) approach, and as a way to introduce concepts from complex systems and systems physiology into the field.…

This paper proposes a stochastic model predictive control method for linear systems affected by additive Gaussian disturbances that optimizes over disturbance feedback matrices online. Closed-loop satisfaction of probabilistic constraints…

The paper deals with the problem of output regulation of nonlinear systems by presenting a learning-based adaptive internal model-based design strategy. We borrow from the adaptive internal model design technique recently proposed in [1]…

AI tools, particularly large language modules, have recently proven their effectiveness within learning management systems and online education programmes. As feedback continues to play a crucial role in learning and assessment in schools,…