4 papers
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…
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…
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…