相关论文: A Framework for Learning from Demonstration with M…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…

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…

In the context of teleoperation, arbitration refers to deciding how to blend between human and autonomous robot commands. We present a reinforcement learning solution that learns an optimal arbitration strategy that allocates more control…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

Learning from demonstration allows for rapid deployment of robot manipulators to a great many tasks, by relying on a person showing the robot what to do rather than programming it. While this approach provides many opportunities, measuring,…

Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…

Learning from Demonstration allows robots to mimic human actions. However, these methods do not model constraints crucial to ensure safety of the learned skill. Moreover, even when explicitly modelling constraints, they rely on the…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

Shared autonomy refers to approaches for enabling an autonomous agent to collaborate with a human with the aim of improving human performance. However, besides improving performance, it may often also be beneficial that the agent…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…

With the fast improvement of machine learning, reinforcement learning (RL) has been used to automate human tasks in different areas. However, training such agents is difficult and restricted to expert users. Moreover, it is mostly limited…

We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control…

Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints.…

Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

In human-in-the-loop reinforcement learning or environments where calculating a reward is expensive, the costly rewards can make learning efficiency challenging to achieve. The cost of obtaining feedback from humans or calculating expensive…