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

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

HRI researchers have made major strides in developing robotic architectures that are capable of reading a limited set of social cues and producing behaviors that enhance their likeability and feeling of comfort amongst humans. However, the…

Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…

Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…

Data generation and labeling are often expensive in robot learning. Preference-based learning is a concept that enables reliable labeling by querying users with preference questions. Active querying methods are commonly employed in…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Personalization in social robots refers to the ability of the robot to meet the needs and/or preferences of an individual user. Existing approaches typically rely on large language models (LLMs) to generate context-aware responses based on…

Learning from demonstrations is a common way for users to teach robots, but it is prone to spurious feature correlations. Recent work constructs state abstractions, i.e. visual representations containing task-relevant features, from…

Behaviour selection has been an active research topic for robotics, in particular in the field of human-robot interaction. For a robot to interact effectively and autonomously with humans, the coupling between techniques for human activity…

Learning human preferences in language models remains fundamentally challenging, as reward modeling relies on subtle, subjective comparisons or shades of gray rather than clear-cut labels. This study investigates the limits of current…

Recent works introduce general-purpose robot policies. These policies provide a strong prior over how robots should behave -- e.g., how a robot arm should manipulate food items. But in order for robots to match an individual person's needs,…

Robot motion planning often requires finding trajectories that balance different user intents, or preferences. One of these preferences is usually arrival at the goal, while another might be obstacle avoidance. Here, we formalize these, and…

Imitation learning from human demonstrations enables robots to perform complex manipulation tasks and has recently witnessed huge success. However, these techniques often struggle to adapt behavior to new preferences or changes in the…

We consider the problem of learning good trajectories for manipulation tasks. This is challenging because the criterion defining a good trajectory varies with users, tasks and environments. In this paper, we propose a co-active online…

In reinforcement learning from human feedback, preference-based reward models play a central role in aligning large language models to human-aligned behavior. However, recent studies show that these models are prone to reward hacking and…

Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…

When robots interact with humans in homes, roads, or factories the human's behavior often changes in response to the robot. Non-stationary humans are challenging for robot learners: actions the robot has learned to coordinate with the…

Parameter tuning for robotic systems is a time-consuming and challenging task that often relies on domain expertise of the human operator. Moreover, existing learning methods are not well suited for parameter tuning for many reasons…

When a robot learns from human examples, most approaches assume that the human partner provides examples of optimal behavior. However, there are applications in which the robot learns from non-expert humans. We argue that the robot should…

Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. However, merely completing tasks is insufficient for cognitive…