Related papers: Learning-Based Strategy Design for Robot-Assisted …

Being able to recognize emotions in human users is considered a highly desirable trait in Human-Robot Interaction (HRI) scenarios. However, most contemporary approaches rarely attempt to apply recognized emotional features in an active…

Patients with semantic dementia (SD) present with remarkably consistent atrophy of neurons in the anterior temporal lobe and behavioural impairments, such as graded loss of category knowledge. While relearning of lost knowledge has been…

In sparse reward scenarios of reinforcement learning (RL), the memory mechanism provides promising shortcuts to policy optimization by reflecting on past experiences like humans. However, current memory-based RL methods simply store and…

This paper introduces a novel data-driven approach to design a linear quadratic regulator (LQR) using a reinforcement learning (RL) algorithm that does not require a system model. The key contribution is to perform policy iteration (PI) by…

Statistical spoken dialogue systems have the attractive property of being able to be optimised from data via interactions with real users. However in the reinforcement learning paradigm the dialogue manager (agent) often requires…

This paper introduces Meta-Q-Learning (MQL), a new off-policy algorithm for meta-Reinforcement Learning (meta-RL). MQL builds upon three simple ideas. First, we show that Q-learning is competitive with state-of-the-art meta-RL algorithms if…

Testing humanoid robots with users is slow, causes wear, and limits iteration and diversity. Yet screening agents must master conversational timing, prosody, backchannels, and what to attend to in faces and speech for Depression and PTSD.…

Supervised fine-tuning (SFT) has emerged as one of the most effective ways to improve the performance of large language models (LLMs) in downstream tasks. However, SFT can have difficulty generalizing when the underlying data distribution…

Reinforcement learning (RL) has emerged as a powerful approach for tackling complex medical decision-making problems such as treatment planning, personalized medicine, and optimizing the scheduling of surgeries and appointments. It has…

Incorporating high-level knowledge is an effective way to expedite reinforcement learning (RL), especially for complex tasks with sparse rewards. We investigate an RL problem where the high-level knowledge is in the form of reward machines,…

This paper focuses on the scalable robot learning for manipulation in the dexterous robot arm-hand systems, where the remote human-robot interactions via augmented reality (AR) are established to collect the expert demonstration data for…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

Social robots are becoming an integrated part of our daily life due to their ability to provide companionship and entertainment. A subfield of robotics, Socially Assistive Robotics (SAR), is particularly suitable for expanding these…

Robots are still limited to controlled conditions, that the robot designer knows with enough details to endow the robot with the appropriate models or behaviors. Learning algorithms add some flexibility with the ability to discover the…

Quality-Diversity (QD) algorithms can discover large and complex behavioural repertoires consisting of both diverse and high-performing skills. However, the generation of behavioural repertoires has mainly been limited to simulation…

Reinforcement learning (RL) is a central problem in artificial intelligence. This problem consists of defining artificial agents that can learn optimal behaviour by interacting with an environment -- where the optimal behaviour is defined…

Recurrent neural network (RNN) based reinforcement learning (RL) is used for learning context-dependent tasks and has also attracted attention as a method with remarkable learning performance in recent research. However, RNN-based RL has…

Training generally capable agents that thoroughly explore their environment and learn new and diverse skills is a long-term goal of robot learning. Quality Diversity Reinforcement Learning (QD-RL) is an emerging research area that blends…

Dialog policies, which determine a system's action based on the current state at each dialog turn, are crucial to the success of the dialog. In recent years, reinforcement learning (RL) has emerged as a promising option for dialog policy…