相关论文: Optimal Fidelity Selection for Human-Supervised Se…

We propose a novel approach to allocating resources for expensive simulations of high fidelity models when used in a multifidelity framework. Allocation decisions that distribute computational resources across several simulation models…

Imitation learning is a promising approach for enabling generalist capabilities in humanoid robots, but its scaling is fundamentally constrained by the scarcity of high-quality expert demonstrations. This limitation can be mitigated by…

Selectivity estimation is important in query optimization, however accurate estimation is difficult when predicates are complex. Instead of existing database synopses and statistics not helpful for such cases, we introduce a new approach to…

What do humans do when confronted with a common challenge: we know where we want to go but we are not yet sure the best way to get there, or even if we can. This is the problem posed to agents during spatial navigation and pathfinding, and…

Today ship hull inspection including the examination of the external coating, detection of defects, and other types of external degradation such as corrosion and marine growth is conducted underwater by means of Remotely Operated Vehicles…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…

Peer prediction mechanisms are often adopted to elicit truthful contributions from crowd workers when no ground-truth verification is available. Recently, mechanisms of this type have been developed to incentivize effort exertion, in…

Joint human-AI inference holds immense potential to improve outcomes in human-supervised robot missions. Current day missions are generally in the AI-assisted setting, where the human operator makes the final inference based on the AI…

This paper considers a time-varying optimization problem associated with a network of systems, with each of the systems shared by (and affecting) a number of individuals. The objective is to minimize cost functions associated with the…

Hyperparameter (HP) optimization of deep learning (DL) is essential for high performance. As DL often requires several hours to days for its training, HP optimization (HPO) of DL is often prohibitively expensive. This boosted the emergence…

Reward and representation learning are two long-standing challenges for learning an expanding set of robot manipulation skills from sensory observations. Given the inherent cost and scarcity of in-domain, task-specific robot data, learning…

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…

Unsupervised learning from continuous visual streams is a challenging problem that cannot be naturally and efficiently managed in the classic batch-mode setting of computation. The information stream must be carefully processed accordingly…

The application of machine learning techniques to large-scale personalized recommendation problems is a challenging task. Such systems must make sense of enormous amounts of implicit feedback in order to understand user preferences across…

This work addresses the problem of robot manipulation tasks under unknown dynamics, such as pick-and-place tasks under payload uncertainty, where active exploration and(/for) online parameter adaptation during task execution are essential…

In this paper, we study the well-known team orienteering problem where a fleet of robots collects rewards by visiting locations. Usually, the rewards are assumed to be known to the robots; however, in applications such as environmental…

In this paper, we explore an approach to auxiliary task discovery in reinforcement learning based on ideas from representation learning. Auxiliary tasks tend to improve data efficiency by forcing the agent to learn auxiliary prediction and…

Despite the success of deep learning in video understanding tasks, processing every frame in a video is computationally expensive and often unnecessary in real-time applications. Frame selection aims to extract the most informative and…

This paper addresses the problem of the human operator cognitive workload estimation while controlling a robot. Being capable of assessing, in real-time, the operator's workload could help prevent calamitous events from occurring. This…

When humans perform a task, such as playing a game, they selectively pay attention to certain parts of the visual input, gathering relevant information and sequentially combining it to build a representation from the sensory data. In this…