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Active sensing links behavior and learning through an action-perception loop: actions determine the observations used to update internal predictive models of perception, which subsequently guide the next actions. Predictive-coding…

Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…

Advances in artificial intelligence often stem from the development of new environments that abstract real-world situations into a form where research can be done conveniently. This paper contributes such an environment based on ideas…

Reinforcement learning is a general method for learning in sequential settings, but it can often be difficult to specify a good reward function when the task is complex. In these cases, preference feedback or expert demonstrations can be…

Reinforcement Learning has emerged as a strong alternative to solve optimization tasks efficiently. The use of these algorithms highly depends on the feedback signals provided by the environment in charge of informing about how good (or…

In the early stages of human life, babies develop their skills by exploring different scenarios motivated by their inherent satisfaction rather than by extrinsic rewards from the environment. This behavior, referred to as intrinsic…

Addressing the question of how to achieve optimal decision-making under risk and uncertainty is crucial for enhancing the capabilities of artificial agents that collaborate with or support humans. In this work, we address this question in…

Active inference may be defined as Bayesian modeling of a brain with a biologically plausible model of the agent. Its primary idea relies on the free energy principle and the prior preference of the agent. An agent will choose an action…

In this work, we address the challenge of data-efficient exploration in reinforcement learning by examining existing principled, information-theoretic approaches to intrinsic motivation. Specifically, we focus on a class of exploration…

Prior access to domain knowledge could significantly improve the performance of a reinforcement learning agent. In particular, it could help agents avoid potentially catastrophic exploratory actions, which would otherwise have to be…

Modeling the preferences of agents over a set of alternatives is a principal concern in many areas. The dominant approach has been to find a single reward/utility function with the property that alternatives yielding higher rewards are…

Robots that are trained to perform a task in a fixed environment often fail when facing unexpected changes to the environment due to a lack of exploration. We propose a principled way to adapt the policy for better exploration in changing…

Learning in environments with sparse rewards remains a fundamental challenge in reinforcement learning. Artificial curiosity addresses this limitation through intrinsic rewards to guide exploration, however, the precise formulation of these…

Preference-based reinforcement learning (PbRL) aligns a robot behavior with human preferences via a reward function learned from binary feedback over agent behaviors. We show that dynamics-aware reward functions improve the sample…

Power-seeking behavior is a key source of risk from advanced AI, but our theoretical understanding of this phenomenon is relatively limited. Building on existing theoretical results demonstrating power-seeking incentives for most reward…

A contextual bandit problem is studied in a highly non-stationary environment, which is ubiquitous in various recommender systems due to the time-varying interests of users. Two models with disjoint and hybrid payoffs are considered to…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

Robot policies need to adapt to human preferences and/or new environments. Human experts may have the domain knowledge required to help robots achieve this adaptation. However, existing works often require costly offline re-training on…

Autonomously learning diverse behaviors without an extrinsic reward signal has been a problem of interest in reinforcement learning. However, the nature of learning in such mechanisms is unconstrained, often resulting in the accumulation of…

The comprehension of how local interactions arise in global collective behavior is of utmost importance in both biological and physical research. Traditional agent-based models often rely on static rules that fail to capture the dynamic…