Related papers: Contrastive Learning from Exploratory Actions: Lev…

Conversational recommender systems (CRS) aim to employ natural language conversations to suggest suitable products to users. Understanding user preferences for prospective items and learning efficient item representations are crucial for…

Autonomous robots must communicate about their decisions to gain trust and acceptance. When doing so, robots must determine which actions are causal, i.e., which directly give rise to the desired outcome, so that these actions can be…

Designing reward functions is a challenging problem in AI and robotics. Humans usually have a difficult time directly specifying all the desirable behaviors that a robot needs to optimize. One common approach is to learn reward functions…

Researches have shown difficulties in obtaining proximity while maintaining diversity for many-objective optimization problems. Complexities of the true Pareto front pose challenges for the reference vector-based algorithms for their…

We consider the problem of learning preferences over trajectories for mobile manipulators such as personal robots and assembly line robots. The preferences we learn are more intricate than simple geometric constraints on trajectories; they…

In autonomous exploration tasks, robots are required to explore and map unknown environments while efficiently planning in dynamic and uncertain conditions. Given the significant variability of environments, human operators often have…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

In the physical world, people have dynamic preferences, e.g., the same situation can lead to satisfaction for some humans and to frustration for others. Personalization is called for. The same observation holds for online behavior with…

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…

Real-life combinatorial optimization problems often involve several conflicting objectives, such as price, product quality and sustainability. A computationally-efficient way to tackle multiple objectives is to aggregate them into a…

Learning from demonstrations is a common way for users to teach robots, but it is prone to spurious feature correlations. Recent work constructs state abstractions, i.e. visual representations containing task-relevant features, from…

When a robot learns from human examples, most approaches assume that the human partner provides examples of optimal behavior. However, there are applications in which the robot learns from non-expert humans. We argue that the robot should…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

Continual learning (CL) has emerged as an important avenue of research in recent years, at the intersection of Machine Learning (ML) and Human-Robot Interaction (HRI), to allow robots to continually learn in their environments over…

When faced with complex choices, users refine their own preference criteria as they explore the catalogue of options. In this paper we propose an approach to preference elicitation suited for this scenario. We extend Coactive Learning,…

Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…

Contrastive learning (CL) methods effectively learn data representations in a self-supervision manner, where the encoder contrasts each positive sample over multiple negative samples via a one-vs-many softmax cross-entropy loss. By…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…

Learning complex robot behaviors through interaction requires structured exploration. Planning should target interactions with the potential to optimize long-term performance, while only reducing uncertainty where conducive to this…

Robots in many real-world settings have access to force/torque sensors in their gripper and tactile sensing is often necessary in tasks that involve contact-rich motion. In this work, we leverage surprise from mismatches in touch feedback…