Search Results for author: Ellen Novoseller

Found 10 papers, 2 papers with code

Efficient Preference-Based Reinforcement Learning Using Learned Dynamics Models

no code implementations11 Jan 2023 Yi Liu, Gaurav Datta, Ellen Novoseller, Daniel S. Brown

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function.

reinforcement-learning Reinforcement Learning (RL)

Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models

no code implementations8 Mar 2022 Vincent Lim, Ellen Novoseller, Jeffrey Ichnowski, Huang Huang, Ken Goldberg

For applications in healthcare, physics, energy, robotics, and many other fields, designing maximally informative experiments is valuable, particularly when experiments are expensive, time-consuming, or pose safety hazards.

Experimental Design reinforcement-learning +1

ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning

no code implementations17 Sep 2021 Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg

Effective robot learning often requires online human feedback and interventions that can cost significant human time, giving rise to the central challenge in interactive imitation learning: is it possible to control the timing and length of interventions to both facilitate learning and limit burden on the human supervisor?

Imitation Learning

LazyDAgger: Reducing Context Switching in Interactive Imitation Learning

no code implementations31 Mar 2021 Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen Novoseller, Ken Goldberg

Corrective interventions while a robot is learning to automate a task provide an intuitive method for a human supervisor to assist the robot and convey information about desired behavior.

Continuous Control Imitation Learning

Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits

1 code implementation13 Mar 2020 Maegan Tucker, Myra Cheng, Ellen Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames

Optimizing lower-body exoskeleton walking gaits for user comfort requires understanding users' preferences over a high-dimensional gait parameter space.

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