相关论文: Learning from Physical Human Feedback: An Object-C…

Reinforcement learning from human feedback (RLHF) is a prevalent approach to align AI systems with human values by learning rewards from human preference data. Due to various reasons, however, such data typically takes the form of rankings…

Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…

Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…

Providing reinforcement learning agents with informationally rich human knowledge can dramatically improve various aspects of learning. Prior work has developed different kinds of shaping methods that enable agents to learn efficiently in…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

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…

Learning robot control policies from human videos is a promising direction for scaling up robot learning. However, how to extract action knowledge (or action representations) from videos for policy learning remains a key challenge. Existing…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Preference-based reinforcement learning (PbRL) is a suitable approach for style adaptation of pre-trained robotic behavior: adapting the robot's policy to follow human user preferences while still being able to perform the original task.…

Reinforcement learning from human feedback usually models preferences using a reward function that does not distinguish between people. We argue that this is unlikely to be a good design choice in contexts with high potential for…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

Image-to-video adaptation seeks to efficiently adapt image models for use in the video domain. Instead of finetuning the entire image backbone, many image-to-video adaptation paradigms use lightweight adapters for temporal modeling on top…

Reactions such as gestures, facial expressions, and vocalizations are an abundant, naturally occurring channel of information that humans provide during interactions. A robot or other agent could leverage an understanding of such implicit…

We aim to teach robots to perform simple object manipulation tasks by watching a single video demonstration. Towards this goal, we propose an optimization approach that outputs a coarse and temporally evolving 3D scene to mimic the action…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

In current state-of-the-art commercial first person shooter games, computer controlled bots, also known as non player characters, can often be easily distinguishable from those controlled by humans. Tell-tale signs such as failed…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…