4 accepted papers
Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits states where the expert has already demonstrated the correct act
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 can result in unstable robot learning. Accordingly, in this le
Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomously learns actions to maximize its reward. Existing approaches to reinforcement learning often frame this problem as a…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled human either teleoperates or kinesthetically guides the robot ar…