相关论文: Inverse Rational Control with Partially Observable…

Autonomous systems are often required to operate in partially observable environments. They must reliably execute a specified objective even with incomplete information about the state of the environment. We propose a methodology to…

We present an alternative view for the study of optimal control of partially observed Markov Decision Processes (POMDPs). We first revisit the traditional (and by now standard) separated-design method of reducing the problem to fully…

Human decision making is well known to be imperfect and the ability to analyse such processes individually is crucial when attempting to aid or improve a decision-maker's ability to perform a task, e.g. to alert them to potential biases or…

We study model-based learning of finite-window policies in tabular partially observable Markov decision processes (POMDPs). A common approach to learning under partial observability is to approximate unbounded history dependencies using…

In this paper, we consider the problem of deploying a robot from a specification given as a temporal logic statement about some properties satisfied by the regions of a large, partitioned environment. We assume that the robot has noisy…

Many sequential decision problems involve optimizing one objective function while imposing constraints on other objectives. Constrained Partially Observable Markov Decision Processes (C-POMDP) model this case with transition uncertainty and…

In human-robot teams, humans often start with an inaccurate model of the robot capabilities. As they interact with the robot, they infer the robot's capabilities and partially adapt to the robot, i.e., they might change their actions based…

Robots operating in real-world environments must reason about possible outcomes of stochastic actions and make decisions based on partial observations of the true world state. A major challenge for making accurate and robust action…

Assuming humans are (approximately) rational enables robots to infer reward functions by observing human behavior. But people exhibit a wide array of irrationalities, and our goal with this work is to better understand the effect they can…

This paper proposes an observer-based framework for solving Partially Observable Markov Decision Processes (POMDPs) when an accurate model is not available. We first propose to use a Moving Horizon Estimation-Model Predictive Control…

Inverse reinforcement learning is the problem of inferring a reward function from an optimal policy or demonstrations by an expert. In this work, it is assumed that the reward is expressed as a reward machine whose transitions depend on…

This paper addresses the problem of online inverse reinforcement learning for systems with limited data and uncertain dynamics. In the developed approach, the state and control trajectories are recorded online by observing an agent perform…

Robot manipulation is increasingly poised to interact with humans in co-shared workspaces. Despite increasingly robust manipulation and control algorithms, failure modes continue to exist whenever models do not capture the dynamics of the…

Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…

Inferring intent from observed behavior has been studied extensively within the frameworks of Bayesian inverse planning and inverse reinforcement learning. These methods infer a goal or reward function that best explains the actions of the…

Biological systems often choose actions without an explicit reward signal, a phenomenon known as intrinsic motivation. The computational principles underlying this behavior remain poorly understood. In this study, we investigate an…

Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…

Driving behavior modeling is of great importance for designing safe, smart, and personalized autonomous driving systems. In this paper, an internal reward function-based driving model that emulates the human's decision-making mechanism is…

Trajectory optimization is a fundamental stochastic optimal control problem. This paper deals with a trajectory optimization approach for dynamical systems subject to measurement noise that can be fitted into linear time-varying stochastic…

This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available exclusively during training. We formalize this as a Partially…