# Inferring Personalized Bayesian Embeddings for Learning from Heterogeneous Demonstration

arXiv: https://arxiv.org/abs/1903.06047 · HTML: https://mlsanity.com/paper/1903.06047/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Mar 2019.

## Built on by (most cited first, 2 of 2)

- [MAVERIC: A Data-Driven Approach to Personalized Autonomous Driving](https://mlsanity.com/paper/2301.08595/) (2023)
- [Improving Robot-Centric Learning from Demonstration via Personalized Embeddings](https://mlsanity.com/paper/2110.03134/) (2021)

## Abstract (arXiv)

For assistive robots and virtual agents to achieve ubiquity, machines will need to anticipate the needs of their human counterparts. The field of Learning from Demonstration (LfD) has sought to enable machines to infer predictive models of human behavior for autonomous robot control. However, humans exhibit heterogeneity in decision-making, which traditional LfD approaches fail to capture. To overcome this challenge, we propose a Bayesian LfD framework to infer an integrated representation of all human task demonstrators by inferring human-specific embeddings, thereby distilling their unique characteristics. We validate our approach is able to outperform state-of-the-art techniques on both synthetic and real-world data sets.