Related papers: InfoGAIL: Interpretable Imitation Learning from Vi…

Information Pursuit (IP) is an explainable prediction algorithm that greedily selects a sequence of interpretable queries about the data in order of information gain, updating its posterior at each step based on observed query-answer pairs.…

Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans learn new behaviors by observing others. Many existing…

Imitation learning, in which learning is performed by demonstration, has been studied and advanced for sequential decision-making tasks in which a reward function is not predefined. However, imitation learning methods still require numerous…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

We seek to align agent policy with human expert behavior in a reinforcement learning (RL) setting, without any prior knowledge about dynamics, reward function, and unsafe states. There is a human expert knowing the rewards and unsafe states…

Reward function specification, which requires considerable human effort and iteration, remains a major impediment for learning behaviors through deep reinforcement learning. In contrast, providing visual demonstrations of desired behaviors…

Learning representations purely from observations concerns the problem of learning a low-dimensional, compact representation which is beneficial to prediction models. Under the hypothesis that the intrinsic latent factors follow some casual…

Learning concepts that are consistent with human perception is important for Deep Neural Networks to win end-user trust. Post-hoc interpretation methods lack transparency in the feature representations learned by the models. This work…

Developing autonomous vehicles that can navigate complex environments with human-level safety and efficiency is a central goal in self-driving research. A common approach to achieving this is imitation learning, where agents are trained to…

Imitation learning (IL) has proven to be an effective method for learning good policies from expert demonstrations. Adversarial imitation learning (AIL), a subset of IL methods, is particularly promising, but its theoretical foundation in…

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…

In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

Visual entailment is a recently proposed multimodal reasoning task where the goal is to predict the logical relationship of a piece of text to an image. In this paper, we propose an extension of this task, where the goal is to predict the…

Learning from demonstrations (LfD) is an efficient paradigm to train AI agents. But major issues arise when there are differences between (a) the demonstrator's own sensory input, (b) our sensors that observe the demonstrator and (c) the…

Interactive Imitation Learning (IIL) allows agents to acquire desired behaviors through human interventions, but current methods impose high cognitive demands on human supervisors. We propose the Adaptive Intervention Mechanism (AIM), a…

We propose a novel approach to train a multi-modal policy from mixed demonstrations without their behavior labels. We develop a method to discover the latent factors of variation in the demonstrations. Specifically, our method is based on…

Regardless of the marked differences between biological and artificial neural systems, one fundamental similarity is that they are essentially dynamical systems that can learn to imitate other dynamical systems, without knowing their…

We propose a novel unsupervised generative model that learns to disentangle object identity from other low-level aspects in class-imbalanced data. We first investigate the issues surrounding the assumptions about uniformity made by InfoGAN,…