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

Aligning language models with human preferences through reinforcement learning from human feedback is crucial for their safe and effective deployment. The human preference is typically represented through comparison where one response is…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Recent works introduce general-purpose robot policies. These policies provide a strong prior over how robots should behave -- e.g., how a robot arm should manipulate food items. But in order for robots to match an individual person's needs,…

Music recommender systems are an integral part of our daily life. Recent research has seen a significant effort around black-box recommender based approaches such as Deep Reinforcement Learning (DRL). These advances have led, together with…

Humans often think of complex tasks as combinations of simpler subtasks in order to learn those complex tasks more efficiently. For example, a backflip could be considered a combination of four subskills: jumping, tucking knees, rolling…

Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…

Current advances in recommender systems have been remarkably successful in optimizing immediate engagement. However, long-term user engagement, a more desirable performance metric, remains difficult to improve. Meanwhile, recent…

A desirable property of autonomous agents is the ability to both solve long-horizon problems and generalize to unseen tasks. Recent advances in data-driven skill learning have shown that extracting behavioral priors from offline data can…

While imitation learning provides us with an efficient toolkit to train robots, learning skills that are robust to environment variations remains a significant challenge. Current approaches address this challenge by relying either on large…

Human-designed reward functions for reinforcement learning (RL) agents are frequently misaligned with the humans' true, unobservable objectives, and thus act only as proxies. Optimizing for a misspecified proxy reward function often induces…

Reward functions are difficult to design and often hard to align with human intent. Preference-based Reinforcement Learning (RL) algorithms address these problems by learning reward functions from human feedback. However, the majority of…

Imitation learning has driven the development of generalist policies capable of autonomously solving multiple tasks. However, when a pretrained policy makes errors during deployment, there are limited mechanisms for users to correct its…

Offline preference-based reinforcement learning (RL), which focuses on optimizing policies using human preferences between pairs of trajectory segments selected from an offline dataset, has emerged as a practical avenue for RL applications.…

Smart assistants increasingly act proactively, yet mistimed or intrusive behavior often causes users to lose trust and disable these features. Learning user preferences for proactive assistance is difficult because real-world studies are…

Many recent advances in robotic manipulation have come through imitation learning, yet these rely largely on mimicking a particularly hard-to-acquire form of demonstrations: those collected on the same robot in the same room with the same…

We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…

The goal of a recommendation system is to model the relevance between each user and each item through the user-item interaction history, so that maximize the positive samples score and minimize negative samples. Currently, two popular loss…

For sophisticated reinforcement learning (RL) systems to interact usefully with real-world environments, we need to communicate complex goals to these systems. In this work, we explore goals defined in terms of (non-expert) human…

We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion…