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Understanding and respecting personal space preferences is essential for socially assistive robots designed for older adult users. This work introduces and evaluates a novel personalized context-aware method for modeling users' proxemics…

This study contributes to the evolving field of robot learning in interaction with humans, examining the impact of diverse input modalities on learning outcomes. It introduces the concept of "meta-modalities" which encapsulate additional…

Reward engineering is one of the key challenges in Reinforcement Learning (RL). Preference-based RL effectively addresses this issue by learning from human feedback. However, it is both time-consuming and expensive to collect human…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Preference tuning is a crucial process for aligning deep generative models with human preferences. This survey offers a thorough overview of recent advancements in preference tuning and the integration of human feedback. The paper is…

Visuomotor robot policies, increasingly pre-trained on large-scale datasets, promise significant advancements across robotics domains. However, aligning these policies with end-user preferences remains a challenge, particularly when the…

The recent surge of versatile large language models (LLMs) largely depends on aligning increasingly capable foundation models with human intentions by preference learning, enhancing LLMs with excellent applicability and effectiveness in a…

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…

Aligning human preference and value is an important requirement for building contemporary foundation models and embodied AI. However, popular approaches such as reinforcement learning with human feedback (RLHF) break down the task into…

Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…

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…

Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…

Reinforcement Learning from Human Feedback (RLHF) facilitates the alignment of large language models (LLMs) with human preferences, thereby enhancing the quality of responses generated. A critical component of RLHF is the reward model,…

This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted display. We consider the preferences, comfort, and the perceived…

Reinforcement learning with human feedback (RLHF) is an emerging paradigm to align models with human preferences. Typically, RLHF aggregates preferences from multiple individuals who have diverse viewpoints that may conflict with each…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Preference-based reinforcement learning (RL) offers a promising approach for aligning policies with human intent but is often constrained by the high cost of human feedback. In this work, we introduce PrefVLM, a framework that integrates…

While reinforcement learning (RL) enables robots to acquire skills autonomously, its real-world deployment is severely limited by inefficient and unsafe exploration. Human-in-the-loop interventions offer a practical solution, yet existing…

Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…

The burgeoning field of autonomous driving necessitates the seamless integration of autonomous vehicles (AVs) with human-driven vehicles, calling for more predictable AV behavior and enhanced interaction with human drivers. Human-like…