相关论文: Learning Human Preferences Over Robot Behavior as …

For a real-world decision-making problem, the reward function often needs to be engineered or learned. A popular approach is to utilize human feedback to learn a reward function for training. The most straightforward way to do so is to ask…

Understanding how humans respond to uncertainty is critical for designing safe and effective physical human-robot interaction (pHRI), as physically working with robots introduces multiple sources of uncertainty, including trust, comfort,…

In autonomous exploration tasks, robots are required to explore and map unknown environments while efficiently planning in dynamic and uncertain conditions. Given the significant variability of environments, human operators often have…

To construct effective teaming strategies between humans and AI systems in complex, risky situations requires an understanding of individual preferences and behaviors of humans. Previously this problem has been treated in case-specific or…

Automatic robotic facial expression generation is crucial for human-robot interaction, as handcrafted methods based on fixed joint configurations often yield rigid and unnatural behaviors. Although recent automated techniques reduce the…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…

Today's robots are increasingly interacting with people and need to efficiently learn inexperienced user's preferences. A common framework is to iteratively query the user about which of two presented robot trajectories they prefer. While…

As a relative quality comparison of model responses, human and Large Language Model (LLM) preferences serve as common alignment goals in model fine-tuning and criteria in evaluation. Yet, these preferences merely reflect broad tendencies,…

Learning from human feedback is a popular approach to train robots to adapt to user preferences and improve safety. Existing approaches typically consider a single querying (interaction) format when seeking human feedback and do not…

Preference-based reinforcement learning (PbRL) shows promise in aligning robot behaviors with human preferences, but its success depends heavily on the accurate modeling of human preferences through reward models. Most methods adopt…

Learning control policies to perform complex robotics tasks from human preference data presents significant challenges. On the one hand, the complexity of such tasks typically requires learning policies to perform a variety of subtasks,…

Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…

Artificial Intelligence is being employed by humans to collaboratively solve complicated tasks for search and rescue, manufacturing, etc. Efficient teamwork can be achieved by understanding user preferences and recommending different…

People have a variety of preferences for how robots behave. To understand and reason about these preferences, robots aim to learn a reward function that describes how aligned robot behaviors are with a user's preferences. Good…

The complexity of designing reward functions has been a major obstacle to the wide application of deep reinforcement learning (RL) techniques. Describing an agent's desired behaviors and properties can be difficult, even for experts. A new…

We humans are biased - and our robotic creations are biased, too. Bias is a natural phenomenon that drives our perceptions and behavior, including when it comes to socially expressive robots that have humanlike features. Recognizing that we…

Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…

For sophisticated reinforcement learning (RL) systems to interact usefully with real-world environments, we need to communicate complex goals to these systems. In this work, we explore goals defined in terms of (non-expert) human…

A large body of work in behavioral fields attempts to develop models that describe the way people, as opposed to rational agents, make decisions. A recent Choice Prediction Competition (2015) challenged researchers to suggest a model that…