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

When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…

Time-series forecasting is a critical challenge in various domains and has witnessed substantial progress in recent years. Many real-life scenarios, such as public health, economics, and social applications, involve feedback loops where…

Active inference has emerged as an alternative approach to control problems given its intuitive (probabilistic) formalism. However, despite its theoretical utility, computational implementations have largely been restricted to…

Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians -- poses a major challenge as the behavior of the environment is unknown and reactive to the behavior of the…

Diffusion models have demonstrated strong capabilities in generating high-fidelity 3D human poses, yet their iterative nature and multi-hypothesis requirements incur substantial computational cost. In this paper, we propose an Efficient…

In this paper, we introduce the Iterative Persuasion-Polarization (IPP) model to study the dynamics of opinion formation and change within a population. The IPP model integrates mechanisms of persuasion and repulsion, where individuals…

Recently, it has been shown how sampling actions from the predictive distribution over the optimal action-sometimes called Thompson sampling-can be applied to solve sequential adaptive control problems, when the optimal policy is known for…

Human trust in automation plays an essential role in interactions between humans and automation. While a lack of trust can lead to a human's disuse of automation, over-trust can result in a human trusting a faulty autonomous system which…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

In recommendation dialogs, humans commonly disclose their preference and make recommendations in a friendly manner. However, this is a challenge when developing a sociable recommendation dialog system, due to the lack of dialog dataset…

Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstrations, experts are not always consistent and might…

Long-term human trajectory prediction is a challenging yet critical task in robotics and autonomous systems. Prior work that studied how to predict accurate short-term human trajectories with only unimodal features often failed in long-term…

Active Inference is a theory of action arising from neuroscience which casts action and planning as a bayesian inference problem to be solved by minimizing a single quantity - the variational free energy. Active Inference promises a…

Adapting pretrained diffusion models to downstream objectives such as inverse problems often requires expensive test-time guidance or optimization. We propose a principled framework for generating high-quality reward-aligned samples at…

In order for humans to confidently decide where to employ RL agents for real-world tasks, a human developer must validate that the agent will perform well at test-time. Some policy interpretability methods facilitate this by capturing the…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

Text-conditioned motion synthesis has made remarkable progress with the emergence of diffusion models. However, the majority of these motion diffusion models are primarily designed for a single character and overlook multi-human…

Ideas by Statistical Mechanics (ISM) is a generic program to model evolution and propagation of ideas/patterns throughout populations subjected to endogenous and exogenous interactions. The program is based on the author's work in…

Adapting a pretrained diffusion model to new objectives at inference time remains an open problem in generative modeling. Existing steering methods suffer from inaccurate value estimation, especially at high noise levels, which biases…

For robots to interact socially, they must interpret human intentions and anticipate their potential outcomes accurately. This is particularly important for social robots designed for human care, which may face potentially dangerous…