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

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…

Reinforcement learning is a general method for learning in sequential settings, but it can often be difficult to specify a good reward function when the task is complex. In these cases, preference feedback or expert demonstrations can be…

Can Visual Language Models (VLMs) effectively capture human visual preferences? This work addresses this question by training VLMs to think about preferences at test time, employing reinforcement learning methods inspired by DeepSeek R1 and…

Data generation and labeling are usually an expensive part of learning for robotics. While active learning methods are commonly used to tackle the former problem, preference-based learning is a concept that attempts to solve the latter by…

Human actions in egocentric videos are often hand-object interactions composed from a verb (performed by the hand) applied to an object. Despite their extensive scaling up, egocentric datasets still face two limitations - sparsity of action…

Large vision-language models (LVLMs) often fail to align with human preferences, leading to issues like generating misleading content without proper visual context (also known as hallucination). A promising solution to this problem is using…

Natural language is often the easiest and most convenient modality for humans to specify tasks for robots. However, learning to ground language to behavior typically requires impractical amounts of diverse, language-annotated demonstrations…

We seek to align agent behavior with a user's objectives in a reinforcement learning setting with unknown dynamics, an unknown reward function, and unknown unsafe states. The user knows the rewards and unsafe states, but querying the user…

Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…

Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Specifying reward functions for robots that operate in environments without a natural reward signal can be challenging, and incorrectly specified rewards can incentivise degenerate or dangerous behavior. A promising alternative to manually…

Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. We assume that arbitrary assumptions on the reward dynamics can be given. The robot aims to accomplish a…

Egocentric, or first-person vision which became popular in recent years with an emerge in wearable technology, is different than exocentric (third-person) vision in some distinguishable ways, one of which being that the camera wearer is…

We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks. We use active learning to optimize parameters of rhythmic…

Videos provide a rich source of information, but it is generally hard to extract dynamical parameters of interest. Inferring those parameters from a video stream would be beneficial for physical reasoning. Robots performing tasks in dynamic…

Robots often need to learn the human's reward function online, during the current interaction. This real-time learning requires fast but approximate learning rules: when the human's behavior is noisy or suboptimal, current approximations…

Humans develop visual intelligence through perceiving and interacting with their environment - a self-supervised learning process grounded in egocentric experience. Inspired by this, we ask how can artificial systems learn stable object…