相关论文: Learning from Human Directional Corrections

As robot deployments become more commonplace, people are likely to take on the role of supervising robots (i.e., correcting their mistakes) rather than directly teaching them. Prior works on Learning from Corrections (LfC) have relied on…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

Training robots directly from human videos is an emerging area in robotics and computer vision. While there has been notable progress with two-fingered grippers, learning autonomous tasks for multi-fingered robot hands in this way remains…

It is incredibly easy for a system designer to misspecify the objective for an autonomous system ("robot''), thus motivating the desire to have the robot learn the objective from human behavior instead. Recent work has suggested that people…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…

Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…

For many applications, robots will need to be incrementally trained to recognize the specific objects needed for an application. This paper presents a practical system for incrementally training a robot to recognize different object…

This paper presents an innovative method for humanoid robots to acquire a comprehensive set of motor skills through reinforcement learning. The approach utilizes an achievement-triggered multi-path reward function rooted in developmental…

In safety-critical robot planning or control, manually specifying safety constraints or learning them from demonstrations can be challenging. In this article, we propose a certifiable alignment method for a robot to learn a safety…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

This paper considers unconstrained convex optimization problems with time-varying objective functions. We propose algorithms with a discrete time-sampling scheme to find and track the solution trajectory based on prediction and correction…

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…

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…

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…

As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

This paper attempts to address the issues of machine learning in its current implementation. It is known that machine learning algorithms require a significant amount of data for training purposes, whereas recent developments in deep…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Many robotics tasks, such as path planning or trajectory optimization, are formulated as optimal control problems (OCPs). The key to obtaining high performance lies in the design of the OCP's objective function. In practice, the objective…