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

In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…

To facilitate effective human-robot interaction (HRI), trust-aware HRI has been proposed, wherein the robotic agent explicitly considers the human's trust during its planning and decision making. The success of trust-aware HRI depends on…

Jointly achieving safety and efficiency in human-robot interaction (HRI) settings is a challenging problem, as the robot's planning objectives may be at odds with the human's own intent and expectations. Recent approaches ensure safe robot…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

Preference-based reinforcement learning (PbRL) is a suitable approach for style adaptation of pre-trained robotic behavior: adapting the robot's policy to follow human user preferences while still being able to perform the original task.…

Large language models (LLMs) are increasingly used in robotics, especially for high-level action planning. Meanwhile, many robotics applications involve human supervisors or collaborators. Hence, it is crucial for LLMs to generate socially…

People deeply care about how fairly they are treated by robots. The established paradigm for probing fairness in Human-Robot Interaction (HRI) involves measuring the perception of the fairness of a robot at the conclusion of an interaction.…

We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…

Preference-based learning aims to align robot task objectives with human values. One of the most common methods to infer human preferences is by pairwise comparisons of robot task trajectories. Traditional comparison-based preference…

Research on human-AI collaboration often prioritizes objective performance. However, understanding human subjective preferences is essential to improving human-AI complementarity and human experiences. We investigate human preferences for…

In many real-life settings, algorithms play the role of assistants, while humans ultimately make the final decision. Often, algorithms specifically act as curators, narrowing down a wide range of options into a smaller subset that the human…

Reinforcement learning (RL) faces challenges in evaluating policy trajectories within intricate game tasks due to the difficulty in designing comprehensive and precise reward functions. This inherent difficulty curtails the broader…

As service robots become more and more capable of performing useful tasks for us, there is a growing need to teach robots how we expect them to carry out these tasks. However, different users typically have their own preferences, for…

We propose a new online learning model for learning with preference feedback. The model is especially suited for applications like web search and recommender systems, where preference data is readily available from implicit user feedback…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

A key challenge in reward learning from human input is that desired agent behavior often changes based on context. For example, a robot must adapt to avoid a stove once it becomes hot. We observe that while high-level preferences (e.g.,…

Human emotions are expressed through multiple modalities, including verbal and non-verbal information. Moreover, the affective states of human users can be the indicator for the level of engagement and successful interaction, suitable for…

An important current challenge in Human-Robot Interaction (HRI) is to enable robots to learn on-the-fly from human feedback. However, humans show a great variability in the way they reward robots. We propose to address this issue by…

Iterative machine learning algorithms used to power recommender systems often change people's preferences by trying to learn them. Further a recommender can better predict what a user will do by making its users more predictable. Some…

Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…