相关论文: Learning under Misspecified Objective Spaces

For a natural social human-robot interaction, it is essential for a robot to learn the human-like social skills. However, learning such skills is notoriously hard due to the limited availability of direct instructions from people to teach a…

Inferring reward functions from human behavior is at the center of value alignment - aligning AI objectives with what we, humans, actually want. But doing so relies on models of how humans behave given their objectives. After decades of…

Learning from human feedback is a popular approach to train robots to adapt to user preferences and improve safety. Existing approaches typically consider a single querying (interaction) format when seeking human feedback and do not…

Robots need models of human behavior for both inferring human goals and preferences, and predicting what people will do. A common model is the Boltzmann noisily-rational decision model, which assumes people approximately optimize a reward…

Existing learning from demonstration algorithms usually assume access to expert demonstrations. However, this assumption is limiting in many real-world applications since the collected demonstrations may be suboptimal or even consist of…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

The adoption of Reinforcement Learning (RL) in several human-centred applications provides robots with autonomous decision-making capabilities and adaptability based on the observations of the operating environment. In such scenarios,…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

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…

We present the effect of adapting to human preferences on trust in a human-robot teaming task. The team performs a task in which the robot acts as an action recommender to the human. It is assumed that the behavior of the human and the…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires specifying all the relevant features a priori, which is…

Our goal is to enable robots to learn cost functions from user guidance. Often it is difficult or impossible for users to provide full demonstrations, so corrections have emerged as an easier guidance channel. However, when robots learn…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

Learning from demonstration is an effective method for human users to instruct desired robot behaviour. However, for most non-trivial tasks of practical interest, efficient learning from demonstration depends crucially on inductive bias in…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source…

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

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…