Research

Motion-Track Policy (MT-PI) presents a unified action space by representing actions as 2D trajectories on an image, enabling the robots to directly imitate from cross-embodiment datasets.

RHyME introduces a new framework that enables robots to learn from watching human demonstrations even when there are differences in execution styles.

APRICOT combines the generative ability of LLMs with Bayesian active preference learning, allowing robots to interactively query users to reduce uncertainty.

MOSAIC combines large pre-trained models for general tasks with task-specific modules to enable collaborative cooking.

Hybrid IRL trains policies on a mixture of online and expert data to mitigate exploration.

Interact, predicts human intent conditioned on future robot actions for collaborative manipulation.

Demo2Code leverages LLMs to translate demonstrations to robot task code via an extended chain-of-thought that recursively summarizes demos to specification, and recursively expands specification to code.

MT-ICL learns safety constraints from expert demonstrations across multiple tasks.

ManiCast learns forecasts of human motions and plans with such forecasts to solve collaborative manipulation tasks.

We propose a novel, lazy approach that addresses two fundamental challenges in Model-based Reinforcement Learning (MBRL): the computational expense of repeatedly finding a good policy in the learned model, and the objective mismatch between model fitting and policy computation.

We explore inverse reinforcement learning and show that leveraging the state distribution of the expert can significantly reduce the complexities of the RL problem, theoretically providing an exponential speedup and practically enhancing performance in continuous control tasks.

We propose a novel game-theoretic framework for joint planning and forecasting with the payoff being the performance of the planner against the demonstrator, and present practical algorithms to train models in an end-to-end fashion.

We investigate sequential decision making with "Impossibly Good" experts possessing privileged information, propose necessary criteria for an optimal policy recovery within limited information, and introduce a novel approach, ELF Distillation, outperforming baselines in Minigrid and Vizdoom environments.

We study imitation learning when the expert has privileged information and show that on-policy algorithms provably learn to recover from their initially suboptimal actions, while off-policy methods naively repeat the past action.

Imitation learning from noisy experts leads to biased policies! Replay estimation fixes this by smoothing the expert by repeatedly executing cached expert actions in a stochastic simulator and imitating that.

We look at imitation learning where the demonstrators have varying quality and seek to induce behavior that is unambiguously better (i.e., Pareto dominant or minimally subdominant) than all human demonstrations.

All of imitation learning can be reduced to a game between a learner (generator) and a value function (discriminator) where the payoff is the performance difference between learner and expert.

Blend model predictive control (MPC) with learned value estimates to trade-off MPC model errors with learner approximation errors.

Not all imitation learning problems are alike -- some are easy (do behavior cloning), some are hard (call interactive expert), and some are just right (just need a simulator).

In Bayesian RL, while solving the belief MDP is hard, solving individual latent MDP is easy. Combine value functions from each MDP along with a learned residual belief policy.

Many old (and new!) imitation learning algorithms are simply minimizing various f-divergences estimates between the expert and the learner trajectory distributions.

How can we learn from human interventions? Every intervention reveals some information about expert's implicit value function. Infer this function and optimize it.

We can model multi-modal feedback from human (demonstrations, interventions, verbal) as a stream of losses that can be minimized using any no-regret online learning algorithm.