12 accepted papers
We present AutoFocus-IL, a simple yet effective method to improve data efficiency and generalization in visual imitation learning by guiding policies to attend to task-relevant features rather than distractors and spurious correlations. Saliency regularization has emerged as a promising way to achie…
We present HAND, a simple and time-efficient method for teaching robots new manipulation tasks through human hand demonstrations. Instead of relying on task-specific robot demonstrations collected via teleoperation, HAND uses easy-to-provide hand demonstrations to retrieve relevant behaviors from ta…
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter, where it may not be possible for a robot to accomplish a tas…
Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-level reasoning about where and what can be offloaded to vision-language models (VLMs), leaving policies to specialize in h…
In many human-robot collaboration and multi-agent tasks, it is vital to model the partners and estimate their objectives to efficiently collaborate/interact with them. While learning from demonstrations is the most common approach for this, it is very data-hungry, which we cannot afford in many sett…
Preference-based reward learning is a popular technique for teaching robots and autonomous systems how a human user wants them to perform a task. Previous works have shown that actively synthesizing preference queries to maximize information gain about the reward function parameters improves data ef…
Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast, humans are able to visually attend to task-relevant objects and…
Robot policies need to adapt to human preferences and/or new environments. Human experts may have the domain knowledge required to help robots achieve this adaptation. However, existing works often require costly offline re-training on human feedback, and those feedback usually need to be frequent a…
Coordination is often critical to forming prosocial behaviors -- behaviors that increase the overall sum of rewards received by all agents in a multi-agent game. However, state of the art reinforcement learning algorithms often suffer from converging to socially less desirable equilibria when multip…
Characterizing what types of exoskeleton gaits are comfortable for users, and understanding the science of walking more generally, require recovering a user’s utility landscape. Learning these landscapes is challenging, as walking trajectories are defined by numerous gait parameters, data collection…
Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but also the overall system. In this paper, we introduce a novel mu…
Enabling robots to act according to human preferences across diverse environments is a crucial task, extensively studied by both roboticists and machine learning researchers. To achieve it, human preferences are often encoded by a reward function which the robot optimizes for. This reward function i…