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09/20/2023
Swarm Mechanics and Swarm Chemistry: A Transdisciplinary Approach for Robot Swarms
This paper for the first time attempts to bridge the knowledge between c...
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07/19/2023
Contextual Reliability: When Different Features Matter in Different Contexts
Deep neural networks often fail catastrophically by relying on spurious ...
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06/22/2023
Can Differentiable Decision Trees Learn Interpretable Reward Functions?
There is an increasing interest in learning reward functions that model ...
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04/25/2023
Leveraging Human Feedback to Evolve and Discover Novel Emergent Behaviors in Robot Swarms
Robot swarms often exhibit emergent behaviors that are fascinating to ob...
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01/11/2023
Efficient Preference-Based Reinforcement Learning Using Learned Dynamics Models
Preference-based reinforcement learning (PbRL) can enable robots to lear...
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01/03/2023
Benchmarks and Algorithms for Offline Preference-Based Reward Learning
Learning a reward function from human preferences is challenging as it t...
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01/02/2023
SIRL: Similarity-based Implicit Representation Learning
When robots learn reward functions using high capacity models that take ...
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12/05/2022
Learning Representations that Enable Generalization in Assistive Tasks
Recent work in sim2real has successfully enabled robots to act in physic...
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11/28/2022
Autonomous Assessment of Demonstration Sufficiency via Bayesian Inverse Reinforcement Learning
In this paper we examine the problem of determining demonstration suffic...
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08/23/2022
The Effect of Modeling Human Rationality Level on Learning Rewards from Multiple Feedback Types
When inferring reward functions from human behavior (be it demonstration...
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07/02/2022
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies
Simulation-to-reality transfer has emerged as a popular and highly succe...
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03/04/2022
Teaching Robots to Span the Space of Functional Expressive Motion
Our goal is to enable robots to perform functional tasks in emotive ways...
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11/29/2021
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Previous work defined Exploratory Grasping, where a robot iteratively gr...
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09/17/2021
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning
Effective robot learning often requires online human feedback and interv...
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07/20/2021
Offline Preference-Based Apprenticeship Learning
We study how an offline dataset of prior (possibly random) experience ca...
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07/13/2021
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities
In industrial part kitting, 3D objects are inserted into cavities for tr...
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06/11/2021
Policy Gradient Bayesian Robust Optimization for Imitation Learning
The difficulty in specifying rewards for many real-world problems has le...
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04/23/2021
Optimal Cost Design for Model Predictive Control
Many robotics domains use some form of nonconvex model predictive contro...
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04/14/2021
Situational Confidence Assistance for Lifelong Shared Autonomy
Shared autonomy enables robots to infer user intent and assist in accomp...
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03/31/2021
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning
Corrective interventions while a robot is learning to automate a task pr...
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03/13/2021
Dynamically Switching Human Prediction Models for Efficient Planning
As environments involving both robots and humans become increasingly com...
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12/02/2020
Value Alignment Verification
As humans interact with autonomous agents to perform increasingly compli...
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11/11/2020
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects
There has been significant recent work on data-driven algorithms for lea...
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07/24/2020
Bayesian Robust Optimization for Imitation Learning
One of the main challenges in imitation learning is determining what act...
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02/21/2020
Safe Imitation Learning via Fast Bayesian Reward Inference from Preferences
Bayesian reward learning from demonstrations enables rigorous safety and...
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12/10/2019
Deep Bayesian Reward Learning from Preferences
Bayesian inverse reinforcement learning (IRL) methods are ideal for safe...
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07/09/2019
Ranking-Based Reward Extrapolation without Rankings
The performance of imitation learning is typically upper-bounded by the ...
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04/12/2019
Extrapolating Beyond Suboptimal Demonstrations via Inverse Reinforcement Learning from Observations
A critical flaw of existing inverse reinforcement learning (IRL) methods...
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01/08/2019
Risk-Aware Active Inverse Reinforcement Learning
Active learning from demonstration allows a robot to query a human for s...
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05/20/2018
Machine Teaching for Inverse Reinforcement Learning: Algorithms and Applications
Inverse reinforcement learning (IRL) infers a reward function from demon...
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07/03/2017