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Scalable and reproducible policy evaluation has been a long-standing challenge in robot learning. Evaluations are critical to assess progress and build better policies, but evaluation in the real world, especially at a scale that would…

As intelligent agents transition from controlled to uncontrolled environments, they face challenges that sometimes exceed their operational capabilities. In many scenarios, they rely on assistance from bystanders to overcome those…

Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relationships facilitates the prediction of human behaviours and…

Robots are required to not only learn spatial concepts autonomously but also utilize such knowledge for various tasks in a domestic environment. Spatial concept represents a multimodal place category acquired from the robot's spatial…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…

We consider a network scenario in which agents can evaluate each other according to a score graph that models some interactions. The goal is to design a distributed protocol, run by the agents, that allows them to learn their unknown state…

We propose a unified framework for adaptive routing in multitask, multimodal prediction settings where data heterogeneity and task interactions vary across samples. Motivated by applications in psychotherapy where structured assessments and…

The ability for autonomous agents to learn and conform to human norms is crucial for their safety and effectiveness in social environments. While recent work has led to frameworks for the representation and inference of simple social rules,…

This paper proposes a method for modeling human driver interactions that relies on multi-output gaussian processes. The proposed method is developed as a refinement of the game theoretical hierarchical reasoning approach called "level-k…

Robots in urban environments will inevitably encounter situations beyond their capabilities (e.g., delivery robots unable to press traffic light buttons), necessitating bystander assistance. These spontaneous collaborations possess…

Autonomous vehicles hold great promise for reducing traffic fatalities and improving transportation efficiency, yet their widespread adoption hinges on embedding credible and transparent ethical reasoning into routine and emergency…

In situations involving teams of diverse robots, assigning appropriate roles to each robot and evaluating their performance is crucial. These roles define the specific characteristics of a robot within a given context. The stream actions…

In this paper we present a novel approach for multiagent decision making in dynamic environments based on Factor Graphs and the Max-Sum algorithm, considering asynchronous variable reassignments and distributed message-passing among agents.…

Modern self-supervised predictive architectures excel at capturing complex statistical correlations from high-dimensional data but lack mechanisms to internalize verifiable human logic, leaving them susceptible to spurious correlations and…

As the technology for building knowledge based systems has matured, important lessons have been learned about the relationship between the architecture of a system and the nature of the problems it is intended to solve. We are implementing…

This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk measure. The sampling-based model predictive control relies…

In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…

Human emotions are expressed through multiple modalities, including verbal and non-verbal information. Moreover, the affective states of human users can be the indicator for the level of engagement and successful interaction, suitable for…

The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory…