4 papers
Steering Robots with Inference-Time Interactions
Yanwei Wang
Imitation learning has driven the development of generalist policies capable of autonomously solving multiple tasks. However, when a pretrained policy makes errors during deploymen…
Partner Modelling Emerges in Recurrent Agents (But Only When It Matters)
Ruaridh Mon-Williams, Max Taylor-Davies, Elizabeth Mieczkowski +5
Humans are remarkably adept at collaboration, able to infer the strengths and weaknesses of new partners in order to work successfully towards shared goals. To build AI systems wit…
Inference-Time Policy Steering through Human Interactions
Yanwei Wang, Lirui Wang, Yilun Du +6
Generative policies trained with human demonstrations can autonomously accomplish multimodal, long-horizon tasks. However, during inference, humans are often removed from the polic…
Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection
Michael Hagenow, Dimosthenis Kontogiorgos, Yanwei Wang +1
Previous methods for Learning from Demonstration leverage several approaches for a human to teach motions to a robot, including teleoperation, kinesthetic teaching, and natural dem…