相关论文: Learning Trajectory Preferences for Manipulators v…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Interactive Machine Learning is concerned with creating systems that operate in environments alongside humans to achieve a task. A typical use is to extend or amplify the capabilities of a human in cognitive or physical ways, requiring the…

The current reward learning from human preferences could be used to resolve complex reinforcement learning (RL) tasks without access to a reward function by defining a single fixed preference between pairs of trajectory segments. However,…

Algorithmic Recourse aims to provide actionable explanations, or recourse plans, to overturn potentially unfavourable decisions taken by automated machine learning models. In this paper, we propose an interaction paradigm based on a guided…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

We focus on learning the desired objective function for a robot. Although trajectory demonstrations can be very informative of the desired objective, they can also be difficult for users to provide. Answers to comparison queries, asking…

Hip exoskeletons are increasing in popularity due to their effectiveness across various scenarios and their ability to adapt to different users. However, personalizing the assistance often requires lengthy tuning procedures and…

Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision…

Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action's perceived pleasure, which is susceptible to changes over time. This makes decision-making more…

Interactive reinforcement learning has shown promise in learning complex robotic tasks. However, the process can be human-intensive due to the requirement of a large amount of interactive feedback. This paper presents a new method that uses…

Learning from Demonstrations (LfD) allows robots to learn skills from human users, but its effectiveness can suffer due to sub-optimal teaching, especially from untrained demonstrators. Active LfD aims to improve this by letting robots…

Prior studies have found that explaining robot decisions and actions helps to increase system transparency, improve user understanding, and enable effective human-robot collaboration. In this paper, we present a system for generating…

Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint trajectory following a 6-dimensional Cartesian path. The optimization performance largely depends on the quality of initial trajectories. However,…

Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…

We study reinforcement learning from human feedback in general Markov decision processes, where agents learn from trajectory-level preference comparisons. A central challenge in this setting is to design algorithms that select informative…

We investigate a learning decision support system for vehicle routing, where the routing engine learns implicit preferences that human planners have when manually creating route plans (or routings). The goal is to use these learned…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method…

With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…