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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…

Learning socially-aware motion representations is at the core of recent advances in multi-agent problems, such as human motion forecasting and robot navigation in crowds. Despite promising progress, existing representations learned with…

Designing the objective function in Model Predictive Control (MPC) is challenging when performance assessment criteria are available only from human judgment. We adopt a preference-based learning (PbL) approach to learn the MPC objective…

The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence,…

Sequential recommender systems (SRS) are designed to predict users' future behaviors based on their historical interaction data. Recent research has increasingly utilized contrastive learning (CL) to leverage unsupervised signals to…

Model-based curiosity combines active learning approaches to optimal sampling with the information gain based incentives for exploration presented in the curiosity literature. Existing model-based curiosity methods look to approximate…

This paper introduces CLEO, a novel preference elicitation algorithm capable of recommending complex objects in hybrid domains, characterized by both discrete and continuous attributes and constraints defined over them. The algorithm…

Cyber and cyber-physical systems equipped with machine learning algorithms such as autonomous cars share environments with humans. In such a setting, it is important to align system (or agent) behaviors with the preferences of one or more…

To effectively assist human workers in assembly tasks a robot must proactively offer support by inferring their preferences in sequencing the task actions. Previous work has focused on learning the dominant preferences of human workers for…

To teach robots complex manipulation tasks, a common approach is to fine-tune a pre-trained vision-language-action model (VLA) on task-specific data. However, since this recipe updates existing representations, it is unsuitable for…

The field of generating recommendations within the framework of causal inference has seen a recent surge, with recommendations being likened to treatments. This approach enhances insights into the influence of recommendations on user…

In machine learning for sequential decision-making, an algorithmic agent learns to interact with an environment while receiving feedback in the form of a reward signal. However, in many unstructured real-world settings, such a reward signal…

The inputs and preferences of human users are important considerations in situations where these users interact with autonomous cyber or cyber-physical systems. In these scenarios, one is often interested in aligning behaviors of the system…

Pre-training representations (a.k.a. foundation models) has recently become a prevalent learning paradigm, where one first pre-trains a representation using large-scale unlabeled data, and then learns simple predictors on top of the…

It is difficult for humans to efficiently teach robots how to correctly perform a task. One intuitive solution is for the robot to iteratively learn the human's preferences from corrections, where the human improves the robot's current…

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…

Constraint Programming (CP) has been successfully used to model and solve complex combinatorial problems. However, modeling is often not trivial and requires expertise, which is a bottleneck to wider adoption. In Constraint Acquisition…

Learning human preferences in language models remains fundamentally challenging, as reward modeling relies on subtle, subjective comparisons or shades of gray rather than clear-cut labels. This study investigates the limits of current…

Analyzing interaction data provides an opportunity to learn about users, uncover their underlying goals, and create intelligent visualization systems. The first step for intelligent response in visualizations is to enable computers to infer…

Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. We assume that arbitrary assumptions on the reward dynamics can be given. The robot aims to accomplish a…