Related papers: What Matters to You? Towards Visual Representation…

Robots can learn the right reward function by querying a human expert. Existing approaches attempt to choose questions where the robot is most uncertain about the human's response; however, they do not consider how easy it will be for the…

Learning representations for pixel-based control has garnered significant attention recently in reinforcement learning. A wide range of methods have been proposed to enable efficient learning, leading to sample complexities similar to those…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…

Reward design remains a significant bottleneck in applying reinforcement learning (RL) to real-world problems. A popular alternative is reward learning, where reward functions are inferred from human feedback rather than manually specified.…

This paper examines the effect of real-time, personalized alignment of a robot's reward function to the human's values on trust and team performance. We present and compare three distinct robot interaction strategies: a non-learner strategy…

Aligning large language models (LLMs) with human preferences is crucial for enhancing their utility in terms of helpfulness, truthfulness, safety, harmlessness, and interestingness. Existing methods for achieving this alignment often…

In order to *generalize* to various tasks in the wild, robotic agents will need a suitable representation (i.e., vision network) that enables the robot to predict optimal actions given high dimensional vision inputs. However, learning such…

Reinforcement learning (RL) agents aim at learning by interacting with an environment, and are not designed for representing or reasoning with declarative knowledge. Knowledge representation and reasoning (KRR) paradigms are strong in…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Interactive adaptive systems powered by Reinforcement Learning (RL) have many potential applications, such as intelligent tutoring systems. In such systems there is typically an external human system designer that is creating, monitoring…

Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…

Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…

In the field of large language models (LLMs), aligning models with the diverse preferences of users is a critical challenge. Direct Preference Optimization (DPO) has played a key role in this area. It works by using pairs of preferences…

In this paper, we investigate the problem of offline Preference-based Reinforcement Learning (PbRL) with human feedback where feedback is available in the form of preference between trajectory pairs rather than explicit rewards. Our…

Reinforcement learning (RL) fine-tuning has shown promise for Vision-Language-Action (VLA) models in robotic manipulation, but deployment-time visual shifts pose practical challenges. A key difficulty is that standard task rewards supervise…

Deeply-learned planning methods are often based on learning representations that are optimized for unrelated tasks. For example, they might be trained on reconstructing the environment. These representations are then combined with predictor…

Techniques that learn improved representations via offline data or self-supervised objectives have shown impressive results in traditional reinforcement learning (RL). Nevertheless, it is unclear how improved representation learning can…

While current autonomous navigation systems allow robots to successfully drive themselves from one point to another in specific environments, they typically require extensive manual parameter re-tuning by human robotics experts in order to…