Related papers: Increasing Transparency of Reinforcement Learning …

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

Reinforcement learning (RL) agents optimize only the features specified in a reward function and are indifferent to anything left out inadvertently. This means that we must not only specify what to do, but also the much larger space of what…

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…

Autonomous AI systems will be entering human society in the near future to provide services and work alongside humans. For those systems to be accepted and trusted, the users should be able to understand the reasoning process of the system,…

It is challenging to use reinforcement learning (RL) in cyber-physical systems due to the lack of safety guarantees during learning. Although there have been various proposals to reduce undesired behaviors during learning, most of these…

Conveying complex objectives to reinforcement learning (RL) agents often requires meticulous reward engineering. Preference-based RL methods are able to learn a more flexible reward model based on human preferences by actively incorporating…

Interfaces for human oversight must effectively support users' situation awareness under time-critical conditions. We explore reinforcement learning (RL)-based UI adaptation to personalize alerting strategies that balance the benefits of…

With the fast improvement of machine learning, reinforcement learning (RL) has been used to automate human tasks in different areas. However, training such agents is difficult and restricted to expert users. Moreover, it is mostly limited…

The complexity of designing reward functions has been a major obstacle to the wide application of deep reinforcement learning (RL) techniques. Describing an agent's desired behaviors and properties can be difficult, even for experts. A new…

During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…

We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…

Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…

For sophisticated reinforcement learning (RL) systems to interact usefully with real-world environments, we need to communicate complex goals to these systems. In this work, we explore goals defined in terms of (non-expert) human…

Artificial intelligence (AI) has been embedded into many aspects of people's daily lives and it has become normal for people to have AI make decisions for them. Reinforcement learning (RL) models increase the space of solvable problems with…

Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…

We study reinforcement learning (RL) problems in which agents observe the reward or transition realizations at their current state before deciding which action to take. Such observations are available in many applications, including…

Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more…

This paper targets the efficient construction of a safety shield for decision making in scenarios that incorporate uncertainty. Markov decision processes (MDPs) are prominent models to capture such planning problems. Reinforcement learning…

Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands. Scripting policies from scratch is intractable due to the high-dimensional control space, and training policies…