相关论文: Efficiently Guiding Imitation Learning Agents with…

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

We introduce explanatory guided learning (XGL), a novel interactive learning strategy in which a machine guides a human supervisor toward selecting informative examples for a classifier. The guidance is provided by means of global…

Eye gaze offers valuable cues about attention, short-term intent, and future actions, making it a powerful signal for modeling egocentric behavior. In this work, we propose a gaze-regularized framework that enhances VLMs for two key…

Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…

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…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

Mutual gaze detection, i.e., predicting whether or not two people are looking at each other, plays an important role in understanding human interactions. In this work, we focus on the task of image-based mutual gaze detection, and propose a…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Understanding user intent during magnified reading is critical for accessible interface design. Yet magnification collapses visual context and forces continual viewport dragging, producing fragmented, noisy gaze and obscuring reading…

Human gaze provides valuable information on human focus and intentions, making it a crucial area of research. Recently, deep learning has revolutionized appearance-based gaze estimation. However, due to the unique features of gaze…

Effective collaboration between humans and AIs hinges on transparent communication and alignment of mental models. However, explicit, verbal communication is not always feasible. Under such circumstances, human-human teams often depend on…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

We address the challenge of unsupervised mistake detection in egocentric video of skilled human activities through the analysis of gaze signals. While traditional methods rely on manually labeled mistakes, our approach does not require…

Imitation learning is widely used for learning to act in complex environments. While pure neural-based methods handle high dimensional data effectively, they suffer from the requirement of large number of samples and are prone to…

Current LLM assistants are powerful at answering questions, but they have limited access to the behavioral context that reveals when and where a user is struggling. We present a gaze-grounded multimodal LLM assistant that uses egocentric…

Reinforcement learning agents can learn to solve sequential decision tasks by interacting with the environment. Human knowledge of how to solve these tasks can be incorporated using imitation learning, where the agent learns to imitate…

Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…

Interactive Imitation Learning (IIL) allows agents to acquire desired behaviors through human interventions, but current methods impose high cognitive demands on human supervisors. We propose the Adaptive Intervention Mechanism (AIM), a…

We study the problem of sample efficient reinforcement learning, where prior data such as demonstrations are provided for initialization in lieu of a dense reward signal. A natural approach is to incorporate an imitation learning objective,…