相关论文: Human Preference Modeling Using Visual Motion Pred…

Learning actions from human demonstration video is promising for intelligent robotic systems. Extracting the exact section and re-observing the extracted video section in detail is important for imitating complex skills because human…

Much work in robotics has focused on "human-in-the-loop" learning techniques that improve the efficiency of the learning process. However, these algorithms have made the strong assumption of a cooperating human supervisor that assists the…

In egocentric scenarios, anticipating both the next action and its visual outcome is essential for understanding human-object interactions and for enabling robotic planning. However, existing paradigms fall short of jointly modeling these…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Interactive reinforcement learning has shown promise in learning complex robotic tasks. However, the process can be human-intensive due to the requirement of a large amount of interactive feedback. This paper presents a new method that uses…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

To solve complex real-world problems with reinforcement learning, we cannot rely on manually specified reward functions. Instead, we can have humans communicate an objective to the agent directly. In this work, we combine two approaches to…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…

The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodiment gap. During manipulation, humans actively coordinate…

Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…

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…

Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action's perceived pleasure, which is susceptible to changes over time. This makes decision-making more…

Designing a reinforcement learning from human feedback (RLHF) algorithm to approximate a human's unobservable reward function requires assuming, implicitly or explicitly, a model of human preferences. A preference model that poorly…

In human-in-the-loop reinforcement learning or environments where calculating a reward is expensive, the costly rewards can make learning efficiency challenging to achieve. The cost of obtaining feedback from humans or calculating expensive…