Related papers: Confidence-Guided Human-AI Collaboration: Reinforc…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Human-in-the-loop (HitL) robot deployment has gained significant attention in both academia and industry as a semi-autonomous paradigm that enables human operators to intervene and adjust robot behaviors at deployment time, improving…
Recent works have shown the promise of inference-time search over action samples for improving generative robot policies. In particular, optimizing cross-chunk coherence via bidirectional decoding has proven effective in boosting the…
Reinforcement learning has enjoyed multiple successes in recent years. However, these successes typically require very large amounts of data before an agent achieves acceptable performance. This paper introduces a novel way of combating…
To improve the sample efficiency of policy-gradient based reinforcement learning algorithms, we propose implicit distributional actor-critic (IDAC) that consists of a distributional critic, built on two deep generator networks (DGNs), and a…
Autonomous manipulation systems have achieved remarkable capabilities, yet the integration of human expertise with diffusion-based policies in shared control remains relatively unexplored. In this paper, we propose Human-In-The-Loop…
A central challenge for autonomous vehicles is coordinating with humans. Therefore, incorporating realistic human agents is essential for scalable training and evaluation of autonomous driving systems in simulation. Simulation agents are…
Cooperative control of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic, where human-driven vehicles with unknown dynamics coexist, data-driven predictive control techniques allow for CAV safe and…
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…
Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…
Multiple quadrotor unmanned aerial vehicle (UAV) systems have garnered widespread research interest and fostered tremendous interesting applications, especially in multi-constrained pursuit-evasion games (MC-PEG). The Cooperative Evasion…
Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…
Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…
We introduce CollisionPro, a pioneering framework designed to estimate cumulative collision probability distributions using temporal difference learning, specifically tailored to applications in robotics, with a particular emphasis on…
The recent rapid advancement of machine learning has been driven by increasingly powerful models with the growing availability of training data and computational resources. However, real-time decision-making tasks with limited time and…
AI systems are fallible, and humans can make mistakes in deciding whether to trust AI over their own judgment. Thus, improving human-AI collaboration requires understanding when, why, and how humans decide to rely on AI. We study two…
Imitation learning attracts much attention for its ability to allow robots to quickly learn human manipulation skills through demonstrations. However, in the real world, human demonstrations often exhibit random behavior that is not…
Despite impressive performance in many benchmark datasets, AI models can still make mistakes, especially among out-of-distribution examples. It remains an open question how such imperfect models can be used effectively in collaboration with…
AI agents are rapidly advancing from passive language models to autonomous systems executing complex, multi-step tasks. Yet their overconfidence in failure remains a fundamental barrier to deployment in high-stakes settings. Existing…
Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…