May 06, 2024
Agents that assist people need to have well-initialized policies that can adapt quickly to align with their partners' reward functions. Initializing policies to maximize performance with unknown partners can be achieved by bootstrapping nonlinear models using imitation learning over large, offline datasets. Such policies can require prohibitive computation to fine-tune in-situ and therefore may miss critical run-time information about a partner's reward function as expressed through their immediate behavior. In contrast, online logistic regression using low-capacity models performs rapid inference and fine-tuning updates and thus can make effective use of immediate in-task behavior for reward function alignment. However, these low-capacity models cannot be bootstrapped as effectively by offline datasets and thus have poor initializations. We propose BLR-HAC, Bootstrapped Logistic Regression for Human Agent Collaboration, which bootstraps large nonlinear models to learn the parameters of a low-capacity model which then uses online logistic regression for updates during collaboration. We test BLR-HAC in a simulated surface rearrangement task and demonstrate that it achieves higher zero-shot accuracy than shallow methods and takes far less computation to adapt online while still achieving similar performance to fine-tuned, large nonlinear models. For code, please see our project page https://sites.google.com/view/blr-hac.
Written by
Ben Newman
Christopher Paxton
Kris Kitani
Henny Admoni
Publisher
AAMAS
Research Topics
Robotics
June 11, 2025
Aaron Foss, Chloe Evans, Sasha Mitts, Koustuv Sinha, Ammar Rizvi, Justine T. Kao
June 11, 2025
June 11, 2025
Mido Assran, Adrien Bardes, David Fan, Quentin Garrido, Russell Howes, Mojtaba Komeili, Matthew Muckley, Ammar Rizvi, Claire Roberts, Koustuv Sinha, Artem Zholus, Sergio Arnaud, Abha Gejji, Ada Martin, Francois Robert Hogan, Daniel Dugas, Piotr Bojanowski, Vasil Khalidov, Patrick Labatut, Francisco Massa, Marc Szafraniec, Kapil Krishnakumar, Yong Li, Xiaodong Ma, Sarath Chandar, Franziska Meier, Yann LeCun, Michael Rabbat, Nicolas Ballas
June 11, 2025
April 17, 2025
Paul McVay, Sergio Arnaud, Ada Martin, Arjun Majumdar, Krishna Murthy Jatavallabhula, Phillip Thomas, Ruslan Partsey, Daniel Dugas, Abha Gejji, Alexander Sax, Vincent-Pierre Berges, Mikael Henaff, Ayush Jain, Ang Cao, Ishita Prasad, Mrinal Kalakrishnan, Mike Rabbat, Nicolas Ballas, Mido Assran, Oleksandr Maksymets, Aravind Rajeswaran, Franziska Meier
April 17, 2025
October 31, 2024
Mike Lambeta, Tingfan Wu, Ali Sengül, Victoria Rose Most, Nolan Black, Kevin Sawyer, Romeo Mercado, Haozhi Qi, Alexander Sohn, Byron Taylor, Norb Tydingco, Gregg Kammerer, Dave Stroud, Jake Khatha, Kurt Jenkins, Kyle Most, Neal Stein, Ricardo Chavira, Thomas Craven-Bartle, Eric Sanchez, Yitian Ding, Jitendra Malik, Roberto Calandra
October 31, 2024
Our approach
Latest news
Foundational models