相关论文: Inference-Time Policy Steering through Human Inter…

This paper proposes to use probabilistic model checking to synthesize optimal robot policies in multi-tasking autonomous systems that are subject to human-robot interaction. Given the convincing empirical evidence that human behavior can be…

Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is…

Models of human behavior for prediction and collaboration tend to fall into two categories: ones that learn from large amounts of data via imitation learning, and ones that assume human behavior to be noisily-optimal for some reward…

Long-range human movement generation remains a central challenge in computer vision and graphics. Generating coherent transitions across semantically distinct motion domains remains largely unexplored. This capability is particularly…

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…

We study the role of interactivity in distributed statistical inference under information constraints, e.g., communication constraints and local differential privacy. We focus on the tasks of goodness-of-fit testing and estimation of…

Generative AI has achieved remarkable empirical success, but from the perspective of statistics it often remains opaque: its predictions may be accurate, yet the underlying mechanism is difficult to interpret, analyze, and trust. This book…

Machine learning systems have been widely used to make decisions about individuals who may behave strategically to receive favorable outcomes, e.g., they may genuinely improve the true labels or manipulate observable features directly to…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

There exist applications of reinforcement learning like medicine where policies need to be ''interpretable'' by humans. User studies have shown that some policy classes might be more interpretable than others. However, it is costly to…

Kinematic sensors are often used to analyze movement behaviors in sports and daily activities due to their ease of use and lack of spatial restrictions, unlike video-based motion capturing systems. Still, the generation, and especially the…

A learning dialogue agent can infer its behaviour from interactions with the users. These interactions can be taken from either human-to-human or human-machine conversations. However, human interactions are scarce and costly, making…

Diffusion models have been successfully adapted to text generation tasks by mapping the discrete text into the continuous space. However, there exist nonnegligible gaps between training and inference, owing to the absence of the forward…

In human-in-the-loop machine learning, the user provides information beyond that in the training data. Many algorithms and user interfaces have been designed to optimize and facilitate this human--machine interaction; however, fewer studies…

Inference-time guidance is essential for steering generative robot policies toward dynamic objectives without retraining, yet existing methods are largely confined to chunk-based architectures that exhibit high latency and lack the…

Inferring intent from observed behavior has been studied extensively within the frameworks of Bayesian inverse planning and inverse reinforcement learning. These methods infer a goal or reward function that best explains the actions of the…

Many Imitation and Reinforcement Learning approaches rely on the availability of expert-generated demonstrations for learning policies or value functions from data. Obtaining a reliable distribution of trajectories from motion planners is…

As large language models are increasingly trained and fine-tuned, practitioners need methods to identify which training data drive specific behaviors, particularly unintended ones. Training Data Attribution (TDA) methods address this by…

Policy learning can be used to extract individualized treatment regimes from observational data in healthcare, civics, e-commerce, and beyond. One big hurdle to policy learning is a commonplace lack of overlap in the data for different…

In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…