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A strong preference for novelty emerges in infancy and is prevalent across the animal kingdom. When incorporated into reinforcement-based machine learning algorithms, visual novelty can act as an intrinsic reward signal that vastly…

When a person is not satisfied with how a robot performs a task, they can intervene to correct it. Reward learning methods enable the robot to adapt its reward function online based on such human input, but they rely on handcrafted…

Sparse reward environments are known to be challenging for reinforcement learning agents. In such environments, efficient and scalable exploration is crucial. Exploration is a means by which an agent gains information about the environment.…

State-of-the-art reinforcement learning (RL) algorithms typically use random sampling (e.g., $\epsilon$-greedy) for exploration, but this method fails on hard exploration tasks like Montezuma's Revenge. To address the challenge of…

Communication is essential for successful interaction. In human-robot interaction, implicit communication holds the potential to enhance robots' understanding of human needs, emotions, and intentions. This paper introduces a method to…

Recent efforts to learn reward functions from human feedback have tended to use deep neural networks, whose lack of transparency hampers our ability to explain agent behaviour or verify alignment. We explore the merits of learning…

Rewards play an essential role in reinforcement learning. In contrast to rule-based game environments with well-defined reward functions, complex real-world robotic applications, such as contact-rich manipulation, lack explicit and…

Humanity has been fascinated by the pursuit of fortune since time immemorial, and many successful outcomes benefit from strokes of luck. But success is subject to complexity, uncertainty, and change - and at times becoming increasingly…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Recently, there has been a great deal of research in emergent communication on artificial agents interacting in simulated environments. Recent studies have revealed that, in general, emergent languages do not follow the compositionality…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to replicate some of these abilities with a neural network that…

Infants explore their complex physical and social environment in an organized way. To gain insight into what intrinsic motivations may help structure this exploration, we create a virtual infant agent and place it in a…

Human interactions are influenced by emotions, temperament, and affection, often conflicting with individuals' underlying preferences. Without explicit knowledge of those preferences, judging whether behaviour is appropriate becomes…

This paper introduces a novel framework for modeling interacting humans in a multi-stage game. This "iterated semi network-form game" framework has the following desirable characteristics: (1) Bounded rational players, (2) strategic players…

In human-in-the-loop reinforcement learning or environments where calculating a reward is expensive, the costly rewards can make learning efficiency challenging to achieve. The cost of obtaining feedback from humans or calculating expensive…

Learning from human feedback has shown to be a useful approach in acquiring robot reward functions. However, expert feedback is often assumed to be drawn from an underlying unimodal reward function. This assumption does not always hold…

Maximum entropy (MaxEnt) RL maximizes a combination of the original task reward and an entropy reward. It is believed that the regularization imposed by entropy, on both policy improvement and policy evaluation, together contributes to good…

Maximum entropy reinforcement learning motivates agents to explore states and actions to maximize the entropy of some distribution, typically by providing additional intrinsic rewards proportional to that entropy function. In this paper, we…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

Reinforcement learning methods require careful design involving a reward function to obtain the desired action policy for a given task. In the absence of hand-crafted reward functions, prior work on the topic has proposed several methods…