相关论文: Skill Preferences: Learning to Extract and Execute…

This paper presents a novel control approach to dealing with object slip during robotic manipulative movements. Slip is a major cause of failure in many robotic grasping and manipulation tasks. Existing works increase grip force to…

When operating in service of people, robots need to optimize rewards aligned with end-user preferences. Since robots will rely on raw perceptual inputs like RGB images, their rewards will inevitably use visual representations. Recently…

Research on human-AI collaboration often prioritizes objective performance. However, understanding human subjective preferences is essential to improving human-AI complementarity and human experiences. We investigate human preferences for…

Reward engineering is one of the key challenges in Reinforcement Learning (RL). Preference-based RL effectively addresses this issue by learning from human feedback. However, it is both time-consuming and expensive to collect human…

As robot fleets become more heterogeneous, including humanoids, rovers, quadrupeds, and drones, selecting the right robot for a task becomes a core systems problem. We study robot skill prediction: mapping a natural-language task…

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…

Unsupervised skill discovery in reinforcement learning aims to intrinsically motivate agents to discover diverse and useful behaviours. However, unconstrained approaches can produce unsafe, unethical, or misaligned behaviours. To mitigate…

To assist human users according to their individual preference in assembly tasks, robots typically require user demonstrations in the given task. However, providing demonstrations in actual assembly tasks can be tedious and time-consuming.…

In medical tasks such as human motion analysis, computer-aided auxiliary systems have become preferred choice for human experts for its high efficiency. However, conventional approaches are typically based on user-defined features such as…

In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning signal is mostly zeros. In contrast, humans are good at…

The utility of reinforcement learning is limited by the alignment of reward functions with the interests of human stakeholders. One promising method for alignment is to learn the reward function from human-generated preferences between…

Humanoid robot manipulation is a crucial research area for executing diverse human-level tasks, involving high-level semantic reasoning and low-level action generation. However, precise scene understanding and sample-efficient learning from…

This paper addresses the problem of preference learning, which aims to align robot behaviors through learning user specific preferences (e.g. "good pull-over location") from visual demonstrations. Despite its similarity to learning factual…

User preferences for items can be inferred from either explicit feedback, such as item ratings, or implicit feedback, such as rental histories. Research in collaborative filtering has concentrated on explicit feedback, resulting in the…

Our goal is to accurately and efficiently learn reward functions for autonomous robots. Current approaches to this problem include inverse reinforcement learning (IRL), which uses expert demonstrations, and preference-based learning, which…

Preference-based reinforcement learning (PbRL) is emerging as a promising approach to teaching robots through human comparative feedback, sidestepping the need for complex reward engineering. However, the substantial volume of feedback…

Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

Training reinforcement learning agents with human feedback is crucial when task objectives are difficult to specify through dense reward functions. While prior methods rely on offline trajectory comparisons to elicit human preferences, such…

Preference-based reinforcement learning (RL) provides a framework to train AI agents using human feedback through preferences over pairs of behaviors, enabling agents to learn desired behaviors when it is difficult to specify a numerical…