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In complex tasks where the reward function is not straightforward and consists of a set of objectives, multiple reinforcement learning (RL) policies that perform task adequately, but employ different strategies can be trained by adjusting…

Preference-based reinforcement learning (PbRL) bypasses explicit reward engineering by inferring reward functions from human preference comparisons, enabling better alignment with human intentions. However, humans often struggle to label a…

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…

Conversational Recommender Systems (CRSs) deliver personalised recommendations through multi-turn natural language dialogue and increasingly support both task-oriented and exploratory interactions. Yet, the factors shaping user interaction…

Data generation and labeling are often expensive in robot learning. Preference-based learning is a concept that enables reliable labeling by querying users with preference questions. Active querying methods are commonly employed in…

Specifying complex task behaviours while ensuring good robot performance may be difficult for untrained users. We study a framework for users to specify rules for acceptable behaviour in a shared environment such as industrial facilities.…

Data generation and labeling are usually an expensive part of learning for robotics. While active learning methods are commonly used to tackle the former problem, preference-based learning is a concept that attempts to solve the latter by…

In this paper, we investigate preference-based reinforcement learning (PbRL), which enables reinforcement learning (RL) agents to learn from human feedback. This is particularly valuable when defining a fine-grain reward function is not…

Preference-based reward learning is widely used for shaping agent behavior to match a user's preference, yet its sparse binary feedback makes it especially vulnerable to causal confusion. The learned reward often latches onto spurious…

Eye movements are intricate and dynamic biosignals that contain a wealth of cognitive information about the subject. However, these are ambiguous signals and therefore require meticulous feature engineering to be used by machine learning…

Biological agents have meaningful interactions with their environment despite the absence of immediate reward signals. In such instances, the agent can learn preferred modes of behaviour that lead to predictable states -- necessary for…

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…

We study active preference learning as a framework for intuitively specifying the behaviour of autonomous robots. In active preference learning, a user chooses the preferred behaviour from a set of alternatives, from which the robot learns…

To collaborate well with robots, we must be able to understand their decision making. Humans naturally infer other agents' beliefs and desires by reasoning about their observable behavior in a way that resembles inverse reinforcement…

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…

Trajectory prediction is an essential task for successful human robot interaction, such as in autonomous driving. In this work, we address the problem of predicting future pedestrian trajectories in a first person view setting with a moving…

Generating complex behaviors that satisfy the preferences of non-expert users is a crucial requirement for AI agents. Interactive reward learning from trajectory comparisons (a.k.a. RLHF) is one way to allow non-expert users to convey…

Preference-based reinforcement learning (PbRL) is emerging as a promising approach to teaching robots through human comparative feedback, sidestepping the need for complex reward engineering. However, the substantial volume of feedback…

Preference-based learning aims to align robot task objectives with human values. One of the most common methods to infer human preferences is by pairwise comparisons of robot task trajectories. Traditional comparison-based preference…

Training a supervised neural network classifier typically requires many annotated training samples. Collecting and annotating a large number of data points are costly and sometimes even infeasible. Traditional annotation process uses a…