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In a busy city street, a pedestrian surrounded by distractions can pick out a single sign if it is relevant to their route. Artificial agents in outdoor Vision-and-Language Navigation (VLN) are also confronted with detecting supervisory…
Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds are sparse, robustness against uncertainties and disturbances,…
Preference-based Reinforcement Learning (PbRL) enables policy learning through simple queries comparing trajectories from a single policy. While human responses to these queries make it possible to learn policies aligned with human…
Legged navigation is typically examined within open-world, off-road, and challenging environments. In these scenarios, estimating external disturbances requires a complex synthesis of multi-modal information. This underlines a major…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Under shared autonomy, wheelchair users expect vehicles to provide safe and comfortable rides while following users high-level navigation plans. To find such a path, vehicles negotiate with different terrains and assess their traversal…
Human trajectory forecasting is a critical challenge in fields such as robotics and autonomous driving. Due to the inherent uncertainty of human actions and intentions in real-world scenarios, various unexpected occurrences may arise. To…
In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…
An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We…
Exploring lunar lava tubes requires robots to traverse without human intervention. Because pre-trained policies cannot fully cover all possible terrain conditions, our goal is to enable adaptive policy switching, where the robot selects an…
In Programming by Demonstration, the robot learns novel skills from human demonstrations. After learning, the robot should be able not only to reproduce the skill, but also to generalize it to shifted domains without collecting new training…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
In this paper we propose a novel bipedal locomotion controller that uses noisy exteroception to traverse a wide variety of terrains. Building on the cutting-edge advancements in attention based belief encoding for quadrupedal locomotion,…
Vision and language navigation is a task that requires an agent to navigate according to a natural language instruction. Recent methods predict sub-goals on constructed topology map at each step to enable long-term action planning. However,…
This paper addresses the problem of preference learning, which aims to align robot behaviors through learning user specific preferences (e.g. "good pull-over location") from visual demonstrations. Despite its similarity to learning factual…
Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many…
Enabling robots to provide effective assistance yet still accommodating the operator's commands for telemanipulation of an object is very challenging because robot's assistive action is not always intuitive for human operators and human…
The adoption of Reinforcement Learning (RL) in several human-centred applications provides robots with autonomous decision-making capabilities and adaptability based on the observations of the operating environment. In such scenarios,…