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End-to-end imitation learning offers a promising approach for training robot policies. However, generalizing to new settings remains a significant challenge. Although large-scale robot demonstration datasets have shown potential for…

Reinforcement learning (RL) typically models the interaction between the agent and environment as a Markov decision process (MDP), where the rewards that guide the agent's behavior are always observable. However, in many real-world…

Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…

Despite the recent advancements of vision-language-action (VLA) models on a variety of robotics tasks, they suffer from critical issues such as poor generalizability to unseen tasks, due to their reliance on behavior cloning exclusively…

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…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…

Generative adversarial imitation learning (GAIL) has attracted increasing attention in the field of robot learning. It enables robots to learn a policy to achieve a task demonstrated by an expert while simultaneously estimating the reward…

In this work, we present a simple yet theoretically motivated improvement to Supervised Fine-Tuning (SFT) for the Large Language Model (LLM), addressing its limited generalization compared to reinforcement learning (RL). Through…

Utilizing well-trained representations in transfer learning often results in superior performance and faster convergence compared to training from scratch. However, even if such good representations are transferred, a model can easily…

Robots must learn from both what people do and what they say, but either modality alone is often incomplete: physical corrections are grounded but ambiguous in intent, while language expresses high-level goals but lacks physical grounding.…

The inherent uncertainty in the environmental transition model of Reinforcement Learning (RL) necessitates a delicate balance between exploration and exploitation. This balance is crucial for optimizing computational resources to accurately…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

We study the problem of generalizing an expert agent's behavior, provided through demonstrations, to new environments and/or additional constraints. Inverse Reinforcement Learning (IRL) offers a promising solution by seeking to recover the…

Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and (ii) modifying the robot's behavior to…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

In many real-world tasks, it is not possible to procedurally specify an RL agent's reward function. In such cases, a reward function must instead be learned from interacting with and observing humans. However, current techniques for reward…

By pretraining on trillions of tokens, an LLM gains the capability of text generation. However, to enhance its utility and reduce potential harm, SFT and alignment are applied sequentially to the pretrained model. Because SFT and alignment…

Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…

Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many…