相关论文: Pragmatically Learning from Pedagogical Demonstrat…

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…

Pragmatics studies how context can contribute to language meanings. In human communication, language is never interpreted out of context, and sentences can usually convey more information than their literal meanings. However, this mechanism…

Agent learning from human interaction often relies on explicit signals, but implicit social cues, such as prosody in speech, could provide valuable information for more effective learning. This paper advocates for the integration of prosody…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…

Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many…

Advances in Deep Reinforcement Learning have led to agents that perform well across a variety of sensory-motor domains. In this work, we study the setting in which an agent must learn to generate programs for diverse scenes conditioned on a…

Humans use social context to specify preferences over behaviors, i.e. their reward functions. Yet, algorithms for inferring reward models from preference data do not take this social learning view into account. Inspired by pragmatic human…

Defining sound and complete specifications for robots using formal languages is challenging, while learning formal specifications directly from demonstrations can lead to over-constrained task policies. In this paper, we propose a Bayesian…

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots.…

Learning from demonstrations (LfD) improves the exploration efficiency of a learning agent by incorporating demonstrations from experts. However, demonstration data can often come from multiple experts with conflicting goals, making it…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

How do LLMs decide what to teach next: by reasoning about a learner's knowledge, or by using simpler rules of thumb? We test this in a controlled task previously used to study human teaching strategies. On each trial, a teacher LLM sees a…

In Multi-Goal Reinforcement Learning, an agent learns to achieve multiple goals with a goal-conditioned policy. During learning, the agent first collects the trajectories into a replay buffer, and later these trajectories are selected…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

Neural end-to-end goal-oriented dialog systems showed promise to reduce the workload of human agents for customer service, as well as reduce wait time for users. However, their inability to handle new user behavior at deployment has limited…

The goal of learning from demonstrations is to learn a policy for an agent (imitator) by mimicking the behavior in the demonstrations. Prior works on learning from demonstrations assume that the demonstrations are collected by a…

Multi-agent systems (MAS) need to adaptively cope with dynamic environments, changing agent populations, and diverse tasks. However, most of the multi-agent systems cannot easily handle them, due to the complexity of the state and task…

Sample efficient learning of manipulation skills poses a major challenge in robotics. While recent approaches demonstrate impressive advances in the type of task that can be addressed and the sensing modalities that can be incorporated,…

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…