Models, code, and papers for "Mukesh Singhal":
We focus on learning the desired objective function for a robot. Although trajectory demonstrations can be very informative of the desired objective, they can also be difficult for users to provide. Answers to comparison queries, asking which of two trajectories is preferable, are much easier for users, and have emerged as an effective alternative. Unfortunately, comparisons are far less informative. We propose that there is much richer information that users can easily provide and that robots ought to leverage. We focus on augmenting comparisons with feature queries, and introduce a unified formalism for treating all answers as observations about the true desired reward. We derive an active query selection algorithm, and test these queries in simulation and on real users. We find that richer, feature-augmented queries can extract more information faster, leading to robots that better match user preferences in their behavior.
With progress in enabling autonomous cars to drive safely on the road, it is time to start asking how they should be driving. A common answer is that they should be adopting their users' driving style. This makes the assumption that users want their autonomous cars to drive like they drive - aggressive drivers want aggressive cars, defensive drivers want defensive cars. In this paper, we put that assumption to the test. We find that users tend to prefer a significantly more defensive driving style than their own. Interestingly, they prefer the style they think is their own, even though their actual driving style tends to be more aggressive. We also find that preferences do depend on the specific driving scenario, opening the door for new ways of learning driving style preference.