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Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face prohibitive data collection costs.…

Conveying complex objectives to reinforcement learning (RL) agents can often be difficult, involving meticulous design of reward functions that are sufficiently informative yet easy enough to provide. Human-in-the-loop RL methods allow…

Reinforcement Learning (RL) in various decision-making tasks of machine learning provides effective results with an agent learning from a stand-alone reward function. However, it presents unique challenges with large amounts of environment…

Unsupervised pre-training has recently become the bedrock for computer vision and natural language processing. In reinforcement learning (RL), goal-conditioned RL can potentially provide an analogous self-supervised approach for making use…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Reinforcement learning (RL) and brain-computer interfaces (BCI) have experienced significant growth over the past decade. With rising interest in human-in-the-loop (HITL), incorporating human input with RL algorithms has given rise to the…

Accurately modeling detailed interactions between human/hand and object is an appealing yet challenging task. Current multi-view capture systems are only capable of reconstructing multiple subjects into a single, unified mesh, which fails…

Advances in the field of inverse reinforcement learning (IRL) have led to sophisticated inference frameworks that relax the original modeling assumption of observing an agent behavior that reflects only a single intention. Instead of…

Counterfactual thinking describes a psychological phenomenon that people re-infer the possible results with different solutions about things that have already happened. It helps people to gain more experience from mistakes and thus to…

Improving instance-specific image goal navigation (InstanceImageNav), which locates the identical object in a real-world environment from a query image, is essential for robotic systems to assist users in finding desired objects. The…

We consider the problem of Human-Object Interaction (HOI) Detection, which aims to locate and recognize HOI instances in the form of <human, action, object> in images. Most existing works treat HOIs as individual interaction categories,…

In-context reinforcement learning (ICRL) refers to the ability of RL agents to adapt to new tasks at inference time without parameter updates by conditioning on additional context. Recent empirical studies further demonstrate that…

Recent advances in 3D human-aware generation have made significant progress. However, existing methods still struggle with generating novel Human Object Interaction (HOI) from text, particularly for open-set objects. We identify three main…

Reinforcement learning (RL) agents typically optimize their policies by performing expensive backward passes to update their network parameters. However, some agents can solve new tasks without updating any parameters by simply conditioning…

Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…

Language creates a compact representation of the world and allows the description of unlimited situations and objectives through compositionality. While these characterizations may foster instructing, conditioning or structuring interactive…

Being able to predict human gaze behavior has obvious importance for behavioral vision and for computer vision applications. Most models have mainly focused on predicting free-viewing behavior using saliency maps, but these predictions do…

Reinforcement Learning (RL) has demonstrated promising results in learning policies for complex tasks, but it often suffers from low sample efficiency and limited transferability. Hierarchical RL (HRL) methods aim to address the difficulty…

Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…