Related papers: Pragmatically Learning from Pedagogical Demonstrat…

While Machine learning gives rise to astonishing results in automated systems, it is usually at the cost of large data requirements. This makes many successful algorithms from machine learning unsuitable for human-machine interaction, where…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Many approaches to robot learning begin by inferring a reward function from a set of human demonstrations. To learn a good reward, it is necessary to determine which features of the environment are relevant before determining how these…

Multi-agent interactions between Large Language Model (LLM) agents have shown major improvements on diverse reasoning tasks. However, these involve long generations from multiple models across several rounds, making them expensive.…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

We introduce GEDI, a Bayesian framework that combines existing self-supervised learning objectives with likelihood-based generative models. This framework leverages the benefits of both GEnerative and DIscriminative approaches, resulting in…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Interactive simulations allow students to discover the underlying principles of a scientific phenomenon through their own exploration. Unfortunately, students often struggle to learn effectively in these environments. Classifying students'…

Imitation learning with a privileged teacher has proven effective for learning complex control behaviors from high-dimensional inputs, such as images. In this framework, a teacher is trained with privileged task information, while a student…

Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action's perceived pleasure, which is susceptible to changes over time. This makes decision-making more…

Grounding language in contextual information is crucial for fine-grained natural language understanding. One important task that involves grounding contextual modifiers is color generation. Given a reference color "green", and a modifier…

It is crucial for robots to be aware of the presence of constraints in order to acquire safe policies. However, explicitly specifying all constraints in an environment can be a challenging task. State-of-the-art constraint inference…

Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…

Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…

Inferring intent from observed behavior has been studied extensively within the frameworks of Bayesian inverse planning and inverse reinforcement learning. These methods infer a goal or reward function that best explains the actions of the…