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09/06/2023
Gesture-Informed Robot Assistance via Foundation Models
Gestures serve as a fundamental and significant mode of non-verbal commu...
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09/03/2023
Stabilize to Act: Learning to Coordinate for Bimanual Manipulation
Key to rich, dexterous manipulation in the real world is the ability to ...
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07/27/2023
Open Problems and Fundamental Limitations of Reinforcement Learning from Human Feedback
Reinforcement learning from human feedback (RLHF) is a technique for tra...
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07/10/2023
Large Language Models as General Pattern Machines
We observe that pre-trained large language models (LLMs) are capable of ...
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07/07/2023
Polybot: Training One Policy Across Robots While Embracing Variability
Reusing large datasets is crucial to scale vision-based robotic manipula...
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06/29/2023
HYDRA: Hybrid Robot Actions for Imitation Learning
Imitation Learning (IL) is a sample efficient paradigm for robot learnin...
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06/29/2023
KITE: Keypoint-Conditioned Policies for Semantic Manipulation
While natural language offers a convenient shared interface for humans a...
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06/14/2023
Toward Grounded Social Reasoning
Consider a robot tasked with tidying a desk with a meticulously construc...
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06/14/2023
Language to Rewards for Robotic Skill Synthesis
Large language models (LLMs) have demonstrated exciting progress in acqu...
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06/12/2023
Generating Language Corrections for Teaching Physical Control Tasks
AI assistance continues to help advance applications in education, from ...
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06/04/2023
Data Quality in Imitation Learning
In supervised learning, the question of data quality and curation has be...
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05/30/2023
Strategic Reasoning with Language Models
Strategic reasoning enables agents to cooperate, communicate, and compet...
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05/25/2023
Parallel Sampling of Diffusion Models
Diffusion models are powerful generative models but suffer from slow sam...
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05/24/2023
Inverse Preference Learning: Preference-based RL without a Reward Function
Reward functions are difficult to design and often hard to align with hu...
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04/26/2023
Distance Weighted Supervised Learning for Offline Interaction Data
Sequential decision making algorithms often struggle to leverage differe...
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04/18/2023
Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets
Enabling robots to learn novel visuomotor skills in a data-efficient man...
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04/13/2023
Language Instructed Reinforcement Learning for Human-AI Coordination
One of the fundamental quests of AI is to produce agents that coordinate...
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03/23/2023
Soy: An Efficient MILP Solver for Piecewise-Affine Systems
Piecewise-affine (PWA) systems are widely used for modeling and control ...
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02/27/2023
Reward Design with Language Models
Reward design in reinforcement learning (RL) is challenging since specif...
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02/27/2023
Active Reward Learning from Online Preferences
Robot policies need to adapt to human preferences and/or new environment...
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02/24/2023
Language-Driven Representation Learning for Robotics
Recent work in visual representation learning for robotics demonstrates ...
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02/07/2023
Long Horizon Temperature Scaling
Temperature scaling is a popular technique for tuning the sharpness of a...
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01/06/2023
"No, to the Right" – Online Language Corrections for Robotic Manipulation via Shared Autonomy
Systems for language-guided human-robot interaction must satisfy two key...
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12/06/2022
Few-Shot Preference Learning for Human-in-the-Loop RL
While reinforcement learning (RL) has become a more popular approach for...
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11/26/2022
Learning Bimanual Scooping Policies for Food Acquisition
A robotic feeding system must be able to acquire a variety of foods. Pri...
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11/26/2022
Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding
Acquiring food items with a fork poses an immense challenge to a robot-a...
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11/25/2022
Assistive Teaching of Motor Control Tasks to Humans
Recent works on shared autonomy and assistive-AI technologies, such as a...
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11/23/2022
In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing
Assistance during eating is essential for those with severe mobility iss...
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11/04/2022
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation
When humans perform contact-rich manipulation tasks, customized tools ar...
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10/14/2022
Eliciting Compatible Demonstrations for Multi-Human Imitation Learning
Imitation learning from human-provided demonstrations is a strong approa...
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09/16/2022
Masked Imitation Learning: Discovering Environment-Invariant Modalities in Multimodal Demonstrations
Multimodal demonstrations provide robots with an abundance of informatio...
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05/26/2022
Training and Inference on Any-Order Autoregressive Models the Right Way
Conditional inference on arbitrary subsets of variables is a core proble...
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05/16/2022
How do people incorporate advice from artificial agents when making physical judgments?
How do people build up trust with artificial agents? Here, we study a ke...
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03/10/2022
PLATO: Predicting Latent Affordances Through Object-Centric Play
Constructing a diverse repertoire of manipulation skills in a scalable f...
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03/08/2022
Leveraging Smooth Attention Prior for Multi-Agent Trajectory Prediction
Multi-agent interactions are important to model for forecasting other ag...
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03/02/2022
Weakly Supervised Correspondence Learning
Correspondence learning is a fundamental problem in robotics, which aims...
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02/07/2022
Learning from Imperfect Demonstrations via Adversarial Confidence Transfer
Existing learning from demonstration algorithms usually assume access to...
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02/02/2022
Imitation Learning by Estimating Expertise of Demonstrators
Many existing imitation learning datasets are collected from multiple de...
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01/05/2022
Conditional Imitation Learning for Multi-Agent Games
While advances in multi-agent learning have enabled the training of incr...
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12/13/2021
PantheonRL: A MARL Library for Dynamic Training Interactions
We present PantheonRL, a multiagent reinforcement learning software pack...
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12/02/2021
HyperSPNs: Compact and Expressive Probabilistic Circuits
Probabilistic circuits (PCs) are a family of generative models which all...
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11/22/2021
Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer
Robot-assisted feeding in household environments is challenging because ...
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11/05/2021
LILA: Language-Informed Latent Actions
We introduce Language-Informed Latent Actions (LILA), a framework for le...
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10/28/2021
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Machine learning has long since become a keystone technology, accelerati...
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10/28/2021
Learning Feasibility to Imitate Demonstrators with Different Dynamics
The goal of learning from demonstrations is to learn a policy for an age...
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10/27/2021
Confidence-Aware Imitation Learning from Demonstrations with Varying Optimality
Most existing imitation learning approaches assume the demonstrations ar...
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10/19/2021
Open-domain clarification question generation without question examples
An overarching goal of natural language processing is to enable machines...
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10/05/2021
Influencing Towards Stable Multi-Agent Interactions
Learning in multi-agent environments is difficult due to the non-station...
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10/02/2021
Partner-Aware Algorithms in Decentralized Cooperative Bandit Teams
When humans collaborate with each other, they often make decisions by ob...
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10/01/2021