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Models of human preference for learning reward functions



W. Bradley Knox , Stephane Hatgis-Kessell , Serena Booth , Scott Niekum , Peter Stone , Alessandro Allievi

* 9 pages (24 pages with references and appendix), 13 figures 

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Know Your Boundaries: The Necessity of Explicit Behavioral Cloning in Offline RL



Wonjoon Goo , Scott Niekum


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Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?



Yuchen Cui , Scott Niekum , Abhinav Gupta , Vikash Kumar , Aravind Rajeswaran

* 30 pages with appendix, published as a conference paper at L4DC 2022 

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A Ranking Game for Imitation Learning



Harshit Sikchi , Akanksha Saran , Wonjoon Goo , Scott Niekum


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SOPE: Spectrum of Off-Policy Estimators



Christina J. Yuan , Yash Chandak , Stephen Giguere , Philip S. Thomas , Scott Niekum

* Accepted at Thirty-fifth Conference on Neural Information Processing Systems (NeurIPS 2021) 

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You Only Evaluate Once: a Simple Baseline Algorithm for Offline RL



Wonjoon Goo , Scott Niekum

* In proceedings of 5th Annual Conference on Robot Learning (CoRL) 2021 

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Distributional Depth-Based Estimation of Object Articulation Models



Ajinkya Jain , Stephen Giguere , Rudolf Lioutikov , Scott Niekum

* 16 pages, 11 figures, 4 tables 

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Robust Generative Adversarial Imitation Learning via Local Lipschitzness



Farzan Memarian , Abolfazl Hashemi , Scott Niekum , Ufuk Topcu


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