6 papers
Sampling-Based Motion Planning with Scene Graphs Under Perception Constraints
Qingxi Meng, Emiliano Flores, Thai Duong +2
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain…
Hierarchical Reward Design from Language: Enhancing Alignment of Agent Behavior with Human Specifications
Zhiqin Qian, Ryan Diaz, Sangwon Seo +1
When training artificial intelligence (AI) to perform tasks, humans often care not only about whether a task is completed but also how it is performed. As AI agents tackle increasi…
Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots
Qingxi Meng, Emiliano Flores, Carlos Quintero-Peña +6
Most common tasks for robots in dynamic spaces require that the environment is regularly and actively perceived. The perception task considered in this work can represent a broad r…
I-CEE: Tailoring Explanations of Image Classification Models to User Expertise
Yao Rong, Peizhu Qian, Vaibhav Unhelkar +1
Effectively explaining decisions of black-box machine learning models is critical to responsible deployment of AI systems that rely on them. Recognizing their importance, the field…
Towards Human-centered Explainable AI: A Survey of User Studies for Model Explanations
Yao Rong, Tobias Leemann, Thai-trang Nguyen +6
Explainable AI (XAI) is widely viewed as a sine qua non for ever-expanding AI research. A better understanding of the needs of XAI users, as well as human-centered evaluations of e…
IDIL: Imitation Learning of Intent-Driven Expert Behavior
Sangwon Seo, Vaibhav Unhelkar
When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse b…