相关论文: Pragmatically Learning from Pedagogical Demonstrat…

An important goal in artificial intelligence is to create agents that can both interact naturally with humans and learn from their feedback. Here we demonstrate how to use reinforcement learning from human feedback (RLHF) to improve upon…

Building generalizable goal-conditioned agents from rich observations is a key to reinforcement learning (RL) solving real world problems. Traditionally in goal-conditioned RL, an agent is provided with the exact goal they intend to reach.…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

We present Confidence-Based Autonomy (CBA), an interactive algorithm for policy learning from demonstration. The CBA algorithm consists of two components which take advantage of the complimentary abilities of humans and computer agents. The…

Programming-by-example is the task of synthesizing a program that is consistent with a set of user-provided input-output examples. As examples are often an under-specification of one's intent, a good synthesizer must choose the intended…

Integration of reinforcement learning and imitation learning is an important problem that has been studied for a long time in the field of intelligent robotics. Reinforcement learning optimizes policies to maximize the cumulative reward,…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

We consider the problem of teaching via demonstrations in sequential decision-making settings. In particular, we study how to design a personalized curriculum over demonstrations to speed up the learner's convergence. We provide a unified…

Learning-from-demonstrations is an emerging paradigm to obtain effective robot control policies for complex tasks via reinforcement learning without the need to explicitly design reward functions. However, it is susceptible to imperfections…

There is a growing need for social robots and intelligent agents that can effectively interact with and support users. For the interactions to be seamless, the agents need to analyse social scenes and behavioural cues from their (robot's)…

Diversity of environments is a key challenge that causes learned robotic controllers to fail due to the discrepancies between the training and evaluation conditions. Training from demonstrations in various conditions can mitigate---but not…

Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a…

In this paper we propose the first machine teaching algorithm for multiple inverse reinforcement learners. Specifically, our contributions are: (i) we formally introduce the problem of teaching a sequential task to a heterogeneous group of…

A key challenge for reinforcement learning (RL) consists of learning in environments with sparse extrinsic rewards. In contrast to current RL methods, humans are able to learn new skills with little or no reward by using various forms of…

Consider a prosthetic arm, learning to adapt to its user's control signals. We propose Interaction-Grounded Learning for this novel setting, in which a learner's goal is to interact with the environment with no grounding or explicit reward…

Applying reinforcement learning (RL) to sparse reward domains is notoriously challenging due to insufficient guiding signals. Common RL techniques for addressing such domains include (1) learning from demonstrations and (2) curriculum…

Reinforcement Learning (RL) has demonstrated significant potential in certain real-world industrial applications, yet its broader deployment remains limited by inherent challenges such as sample inefficiency and unstable learning dynamics.…