相关论文: Reward Learning from Narrated Demonstrations

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

Distributional semantic models capture word-level meaning that is useful in many natural language processing tasks and have even been shown to capture cognitive aspects of word meaning. The majority of these models are purely text based,…

In this paper, we study the task of embodied interactive learning for object detection. Given a set of environments (and some labeling budget), our goal is to learn an object detector by having an agent select what data to obtain labels…

Recent advances in open-vocabulary object detection models will enable Automatic Target Recognition systems to be sustainable and repurposed by non-technical end-users for a variety of applications or missions. New, and potentially nuanced,…

Large Language Models (LLMs) have achieved remarkable success across diverse natural language tasks, yet the reward models employed for aligning LLMs often encounter challenges of reward hacking, where the approaches predominantly rely on…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…

Reward engineering has long been a challenge in Reinforcement Learning (RL) research, as it often requires extensive human effort and iterative processes of trial-and-error to design effective reward functions. In this paper, we propose…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Robots can learn preferences from human demonstrations, but their success depends on how informative these demonstrations are. Being informative is unfortunately very challenging, because during teaching, people typically get no…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Visual perception and language understanding are - fundamental components of human intelligence, enabling them to understand and reason about objects and their interactions. It is crucial for machines to have this capacity to reason using…

Reinforcement Learning (RL) agents have demonstrated their potential across various robotic tasks. However, they still heavily rely on human-engineered reward functions, requiring extensive trial-and-error and access to target behavior…

Large Vision-Language Models (VLMs) have demonstrated potential in enhancing mobile robot navigation in human-centric environments by understanding contextual cues, human intentions, and social dynamics while exhibiting reasoning…

The reward hypothesis states that all goals and purposes can be understood as the maximization of a received scalar reward signal. However, in practice, defining such a reward signal is notoriously difficult, as humans are often unable to…

One of the distinguishing aspects of human language is its compositionality, which allows us to describe complex environments with limited vocabulary. Previously, it has been shown that neural network agents can learn to communicate in a…

We present a multi-modal dialogue system for interactive learning of perceptually grounded word meanings from a human tutor. The system integrates an incremental, semantic parsing/generation framework - Dynamic Syntax and Type Theory with…

Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…

As more machine learning agents interact with humans, it is increasingly a prospect that an agent trained to perform a task optimally, using only a measure of task performance as feedback, can violate societal norms for acceptable behavior…