相关论文: Interactive Policy Learning through Confidence-Bas…

Model-based reinforcement learning algorithms, which aim to learn a model of the environment to make decisions, are more sample efficient than their model-free counterparts. The sample efficiency of model-based approaches relies on whether…

The intuitive collaboration of humans and intelligent robots (embodied AI) in the real-world is an essential objective for many desirable applications of robotics. Whilst there is much research regarding explicit communication, we focus on…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

Teachable agents are computer agents based on the pedagogical concept of learning-by-teaching. During the tutoring process, where students take on the role of the tutor to teach a computer agent tutee, learners have been observed to gain…

The current work on reinforcement learning (RL) from demonstrations often assumes the demonstrations are samples from an optimal policy, an unrealistic assumption in practice. When demonstrations are generated by sub-optimal policies or…

In safety-critical applications, autonomous agents may need to learn in an environment where mistakes can be very costly. In such settings, the agent needs to behave safely not only after but also while learning. To achieve this, existing…

Transparency is an important aspect of human-robot interaction (HRI), as it can improve system trust and usability leading to improved communication and performance. However, most transparency models focus only on the amount of information…

We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

This paper presents a novel approach to learning from demonstration that enables robots to autonomously execute complex tasks in dynamic environments. We model latent tasks as probabilistic formal languages and introduce a tailored reactive…

Self-reflecting about our performance (e.g., how confident we are) before doing a task is essential for decision making, such as selecting the most suitable tool or choosing the best route to drive. While this form of awareness -- thinking…

Financial institutions mostly deal with people. Therefore, characterizing different kinds of human behavior can greatly help institutions for improving their relation with customers and with regulatory offices. In many of such interactions,…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…

Autonomous discovery and direct instruction are two distinct sources of learning in children but education sciences demonstrate that mixed approaches such as assisted discovery or guided play result in improved skill acquisition. In the…

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 algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…

We present a novel interactive learning protocol that enables training request-fulfilling agents by verbally describing their activities. Unlike imitation learning (IL), our protocol allows the teaching agent to provide feedback in a…