相关论文: APRICOT: Active Preference Learning and Constraint…

An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We…

We study active preference learning as a framework for intuitively specifying the behaviour of autonomous robots. In active preference learning, a user chooses the preferred behaviour from a set of alternatives, from which the robot learns…

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…

Preference learning has long been studied in Human-Robot Interaction (HRI) in order to adapt robot behavior to specific user needs and desires. Typically, human preferences are modeled as a scalar function; however, such a formulation…

As large language models (LLMs) are increasingly deployed in user-facing applications, building trust and maintaining safety by accurately quantifying a model's confidence in its prediction becomes even more important. However, finding…

Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause severe physical and cognitive fatigue for…

Actively inferring user preferences, for example by asking good questions, is important for any human-facing decision-making system. Active inference allows such systems to adapt and personalize themselves to nuanced individual preferences.…

Accommodating human preferences is essential for creating AI agents that deliver personalized and effective interactions. Recent work has shown the potential for LLMs to infer preferences from user interactions, but they often produce broad…

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…

Large language models (LLMs) have achieved remarkable success, yet aligning their generations with human preferences remains a critical challenge. Existing approaches to preference modeling often rely on an explicit or implicit reward…

How to align large language models (LLMs) with user preferences from a static general dataset has been frequently studied. However, user preferences are usually personalized, changing, and diverse regarding culture, values, or time. This…

Recently, there has been considerable attention towards leveraging large language models (LLMs) to enhance decision-making processes. However, aligning the natural language text instructions generated by LLMs with the vectorized operations…

Large Language Models (LLMs) excel at understanding natural language but struggle with optimisation tasks involving multiple constraints and user-defined preferences, which commonly arise in domains such as robotics. We propose a hybrid…

Recent advancements in Large Language Models (LLMs) have demonstrated exceptional performance across a wide range of tasks, generating significant interest in their application to recommendation systems. However, existing methods have not…

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,…

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…

The rapid advancement in large language models (LLMs) has brought forth a diverse range of models with varying capabilities that excel in different tasks and domains. However, selecting the optimal LLM for user queries often involves a…

For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…

Large Language Models (LLMs) exhibit remarkably powerful capabilities. One of the crucial factors to achieve success is aligning the LLM's output with human preferences. This alignment process often requires only a small amount of data to…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…