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

Hierarchical reinforcement learning (RL) can accelerate long-horizon decision-making by temporally abstracting a policy into multiple levels. Promising results in sparse reward environments have been seen with skills, i.e. sequences of…

Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…

Aligning robot behavior with human preferences is crucial for deploying embodied AI agents in human-centered environments. A promising solution is interactive imitation learning from human intervention, where a human expert observes the…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…

Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-horizon tasks. To address this issue, we propose SkillMimicGen…

Reinforcement Learning from Human Feedback (RLHF) has emerged as a popular paradigm for aligning models with human intent. Typically RLHF algorithms operate in two phases: first, use human preferences to learn a reward function and second,…

Diffusion policies (DP) have recently shown great promise for generating actions in robotic manipulation. However, existing approaches often rely on global instructions to produce short-term control signals, which can result in misalignment…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

Trained on vast corpora of human language, language models demonstrate emergent human-like reasoning abilities. Yet they are still far from true intelligence, which opens up intriguing opportunities to explore the parallels of humans and…

Hip exoskeletons are increasing in popularity due to their effectiveness across various scenarios and their ability to adapt to different users. However, personalizing the assistance often requires lengthy tuning procedures and…

As service robots become more and more capable of performing useful tasks for us, there is a growing need to teach robots how we expect them to carry out these tasks. However, different users typically have their own preferences, for…

Reinforcement learning (RL) algorithms face significant challenges when dealing with long-horizon robot manipulation tasks in real-world environments due to sample inefficiency and safety issues. To overcome these challenges, we propose a…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Learning from human feedback is a popular approach to train robots to adapt to user preferences and improve safety. Existing approaches typically consider a single querying (interaction) format when seeking human feedback and do not…

We study human-in-the-loop reinforcement learning (RL) with trajectory preferences, where instead of receiving a numeric reward at each step, the agent only receives preferences over trajectory pairs from a human overseer. The goal of the…

The quality of training data impacts the performance of pre-trained large language models (LMs). Given a fixed budget of tokens, we study how to best select data that leads to good downstream model performance across tasks. We develop a new…

For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…

In classic reinforcement learning (RL) and decision making problems, policies are evaluated with respect to a scalar reward function, and all optimal policies are the same with regards to their expected return. However, many real-world…

Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…

Recent advancements in LLMs have revolutionized motion generation models in embodied applications. While LLM-type auto-regressive motion generation models benefit from training scalability, there remains a discrepancy between their token…