相关论文: Pragmatically Learning from Pedagogical Demonstrat…

Goal-models (GM) have been used in adaptive systems engineering for their ability to capture the different ways to fulfill the requirements. Contextual GM (CGM) extend these models with the notion of context and context-dependent…

In sequential machine teaching, a teacher's objective is to provide the optimal sequence of inputs to sequential learners in order to guide them towards the best model. In this paper we extend this setting from current static one-data-set…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Guided exploration with expert demonstrations improves data efficiency for reinforcement learning, but current algorithms often overuse expert information. We propose a novel algorithm to speed up Q-learning with the help of a limited…

In order for robots and other artificial agents to efficiently learn to perform useful tasks defined by an end user, they must understand not only the goals of those tasks, but also the structure and dynamics of that user's environment.…

Generative Artificial Intelligence (GAI) can be seen as a double-edged weapon in education. Indeed, it may provide personalized, interactive and empowering pedagogical sequences that could favor students' intrinsic motivation, active…

In this paper, we present a technique that improves the process of training an agent (using RL) for instruction following. We develop a training curriculum that uses a nominal number of expert demonstrations and trains the agent in a manner…

In virtual reality (VR) educational scenarios, Pedagogical agents (PAs) enhance immersive learning through realistic appearances and interactive behaviors. However, most existing PAs rely on static speech and simple gestures. This…

Reinforcement learning (RL) makes it possible to train agents capable of achieving sophisticated goals in complex and uncertain environments. A key difficulty in reinforcement learning is specifying a reward function for the agent to…

Learning near-optimal behaviour from an expert's demonstrations typically relies on the assumption that the learner knows the features that the true reward function depends on. In this paper, we study the problem of learning from…

In human pedagogy, teachers and students can interact adaptively to maximize communication efficiency. The teacher adjusts her teaching method for different students, and the student, after getting familiar with the teacher's instruction…

When humans cooperate, they frequently coordinate their activity through both verbal communication and non-verbal actions, using this information to infer a shared goal and plan. How can we model this inferential ability? In this paper, we…

A good teacher should not only be knowledgeable, but should also be able to communicate in a way that the student understands -- to share the student's representation of the world. In this work, we introduce a new controlled experimental…

Humans effortlessly "program" one another by communicating goals and desires in natural language. In contrast, humans program robotic behaviours by indicating desired object locations and poses to be achieved, by providing RGB images of…

A popular strategy for active learning is to specifically target a reduction in epistemic uncertainty, since aleatoric uncertainty is often considered as being intrinsic to the system of interest and therefore not reducible. Yet,…

Reward functions are a common way to specify the objective of a robot. As designing reward functions can be extremely challenging, a more promising approach is to directly learn reward functions from human teachers. Importantly, data from…

Learning from Demonstration (LfD) can be an efficient way to train systems with analogous agents by enabling ``Student'' agents to learn from the demonstrations of the most experienced ``Teacher'' agent, instead of training their policy in…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

Existing approaches to reward inference from behavior typically assume that humans provide demonstrations according to specific models of behavior. However, humans often indicate their goals through a wide range of behaviors, from actions…

Human learning relies on specialization -- distinct cognitive mechanisms working together to enable rapid learning. In contrast, most modern neural networks rely on a single mechanism: gradient descent over an objective function. This…