Related papers: Skill Preferences: Learning to Extract and Execute…

Instruction data selection aims to identify a high-quality subset from the training set that matches or exceeds the performance of the full dataset on target tasks. Existing methods focus on the instruction-to-response mapping, but neglect…

Automatic robotic facial expression generation is crucial for human-robot interaction, as handcrafted methods based on fixed joint configurations often yield rigid and unnatural behaviors. Although recent automated techniques reduce the…

The ability to effectively reuse prior knowledge is a key requirement when building general and flexible Reinforcement Learning (RL) agents. Skill reuse is one of the most common approaches, but current methods have considerable…

Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Skills play a central role in the job market and many human resources (HR) processes. In the wake of other digital experiences, today's online job market has candidates expecting to see the right opportunities based on their skill set.…

Classifier models are prevalent in natural language processing (NLP), often with high accuracy. Yet in real world settings, human-in-the-loop systems can foster trust in model outputs and even higher performance. Selective Prediction (SP)…

The current reward learning from human preferences could be used to resolve complex reinforcement learning (RL) tasks without access to a reward function by defining a single fixed preference between pairs of trajectory segments. However,…

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning…

Preference-based reinforcement learning (RL) provides a framework to train agents using human preferences between two behaviors. However, preference-based RL has been challenging to scale since it requires a large amount of human feedback…

Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…

Automatically reasoning about future human behaviors is a difficult problem but has significant practical applications to assistive systems. Part of this difficulty stems from learning systems' inability to represent all kinds of behaviors.…

Learning from human feedback has been shown to be effective at aligning language models with human preferences. Past work has often relied on Reinforcement Learning from Human Feedback (RLHF), which optimizes the language model using reward…

Interactive reinforcement learning has shown promise in learning complex robotic tasks. However, the process can be human-intensive due to the requirement of a large amount of interactive feedback. This paper presents a new method that uses…

Learning a reward function from human preferences is challenging as it typically requires having a high-fidelity simulator or using expensive and potentially unsafe actual physical rollouts in the environment. However, in many tasks the…

Long-horizon decision-making with sparse rewards and continuous states and actions remains a fundamental challenge in AI and robotics. Task and motion planning (TAMP) is a model-based framework that addresses this challenge by planning…

We consider the problem of learning good trajectories for manipulation tasks. This is challenging because the criterion defining a good trajectory varies with users, tasks and environments. In this paper, we propose a co-active online…

Language models (LMs) are pretrained to imitate internet text, including content that would violate human preferences if generated by an LM: falsehoods, offensive comments, personally identifiable information, low-quality or buggy code, and…

Learning preferences implicit in the choices humans make is a well studied problem in both economics and computer science. However, most work makes the assumption that humans are acting (noisily) optimally with respect to their preferences.…

Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning (RL) methods have reduced the number of required…