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Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to…

In this paper, we propose a robust imitation learning (IL) framework that improves the robustness of IL when environment dynamics are perturbed. The existing IL framework trained in a single environment can catastrophically fail with…

To achieve natural and intuitive interaction with people, HRI frameworks combine a wide array of methods for human perception, intention communication, human-aware navigation and collaborative action. In practice, when encountering…

Imitation learning is a widely used policy learning method that enables intelligent agents to acquire complex skills from expert demonstrations. The input to the imitation learning algorithm is usually composed of both the current…

Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its…

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

This paper investigates approximation-theoretic aspects of the in-context learning capability of the transformers in representing a family of noisy linear dynamical systems. Our first theoretical result establishes an upper bound on the…

Large Language Models (LLMs) have transformed NLP with their remarkable In-context Learning (ICL) capabilities. Automated assistants based on LLMs are gaining popularity; however, adapting them to novel tasks is still challenging. While…

Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While the Unified World Model (UWM) formulation…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Robot social navigation needs to adapt to different human factors and environmental contexts. However, since these factors and contexts are difficult to predict and cannot be exhaustively enumerated, traditional learning-based methods have…

Developing robots capable of executing various manipulation tasks, guided by natural language instructions and visual observations of intricate real-world environments, remains a significant challenge in robotics. Such robot agents need to…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

Cross-lingual adaptation has proven effective in spoken language understanding (SLU) systems with limited resources. Existing methods are frequently unsatisfactory for intent detection and slot filling, particularly for distant languages…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

Recent advances in large language models (LLMs) have facilitated the widespread deployment of LLMs as interactive agents capable of reasoning, planning, and tool use. Despite strong performance on existing benchmarks, such agents often…

Learning abstract state representations and knowledge is crucial for long-horizon robot planning. We present InterPreT, an LLM-powered framework for robots to learn symbolic predicates from language feedback of human non-experts during…

This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies, the reality gap remains a major…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…