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Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

Recent progress on vision-language foundation models have brought significant advancement to building general-purpose robots. By using the pre-trained models to encode the scene and instructions as inputs for decision making, the…

In the realm of autonomous vehicles, dynamic user preferences are critical yet challenging to accommodate. Existing methods often misrepresent these preferences, either by overlooking their dynamism or overburdening users as humans often…

Today's robots are increasingly interacting with people and need to efficiently learn inexperienced user's preferences. A common framework is to iteratively query the user about which of two presented robot trajectories they prefer. While…

Herein we suggest a mobile robot-training algorithm that is based on the preference approximation of the decision taker who controls the robot, which in its turn is managed by the Markov chain. Setup of the model parameters is made on the…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

In order to robustly execute a task under environmental uncertainty, a robot needs to be able to reactively adapt to changes arising in its environment. The environment changes are usually reflected in deviation from expected sensory…

Prior studies have found that explaining robot decisions and actions helps to increase system transparency, improve user understanding, and enable effective human-robot collaboration. In this paper, we present a system for generating…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant behaviors. Social planners usually add costs or constraints…

In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans.…

Behavior and motion planning play an important role in automated driving. Traditionally, behavior planners instruct local motion planners with predefined behaviors. Due to the high scene complexity in urban environments, unpredictable…

To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…

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…

Large language models (LLMs) have recently demonstrated the potential in acting as autonomous agents for sequential decision-making tasks. However, most existing methods either take actions greedily without planning or rely on static plans…

For autonomous vehicles integrating onto roadways with human traffic participants, it requires understanding and adapting to the participants' intention and driving styles by responding in predictable ways without explicit communication.…