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Imitation learning seeks to learn an expert policy from sampled demonstrations. However, in the real world, it is often difficult to find a perfect expert and avoiding dangerous behaviors becomes relevant for safety reasons. We present the…

Machine Learning · Computer Science 2019-09-26 David Venuto , Leonard Boussioux , Junhao Wang , Rola Dali , Jhelum Chakravorty , Yoshua Bengio , Doina Precup

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

Robotics · Computer Science 2025-10-28 Amirreza Razmjoo , Sylvain Calinon , Michael Gienger , Fan Zhang

When performing imitation learning from expert demonstrations, distribution matching is a popular approach, in which one alternates between estimating distribution ratios and then using these ratios as rewards in a standard reinforcement…

Machine Learning · Computer Science 2019-12-12 Ilya Kostrikov , Ofir Nachum , Jonathan Tompson

In continual learning, a model learns incrementally over time while minimizing interference between old and new tasks. One of the most widely used approaches in continual learning is referred to as replay. Replay methods support interleaved…

Computer Vision and Pattern Recognition · Computer Science 2024-05-13 Truman Hickok , Dhireesha Kudithipudi

Incremental Learning scenarios do not always represent real-world inference use-cases, which tend to have less strict task boundaries, and exhibit repetition of common classes and concepts in their continual data stream. To better represent…

Machine Learning · Computer Science 2025-02-28 Benedikt Tscheschner , Eduardo Veas , Marc Masana

Imitation of expert behaviour is a highly desirable and safe approach to the problem of sequential decision making. We provide an easy-to-implement, novel algorithm for imitation learning under a strict data paradigm, in which the agent…

Machine Learning · Computer Science 2023-02-07 Matthew Smith , Lucas Maystre , Zhenwen Dai , Kamil Ciosek

Software caches are an intrinsic component of almost every computer system. Consequently, caching algorithms, particularly eviction policies, are the topic of many papers. Almost all these prior papers evaluate the caching algorithm based…

Performance · Computer Science 2024-11-19 Ziyue Qiu , Juncheng Yang , Mor Harchol-Balter

Caching is crucial for system performance, but the delayed hit phenomenon, where requests queue during lengthy fetches after a cache miss, significantly degrades user-perceived latency in modern high-throughput systems. While prior works…

Networking and Internet Architecture · Computer Science 2025-05-22 Bowen Jiang , Chaofan Ma

A large body of the literature on automated program repair develops approaches where patches are automatically generated to be validated against an oracle (e.g., a test suite). Because such an oracle can be imperfect, the generated patches,…

Continual learning, also known as lifelong learning or incremental learning, refers to the process by which a model learns from a stream of incoming data over time. A common problem in continual learning is the classification layer's bias…

Computer Vision and Pattern Recognition · Computer Science 2025-01-27 Haoran Chen , Micah Goldblum , Zuxuan Wu , Yu-Gang Jiang

This paper presents a new hybrid cache replacement algorithm that combines random allocation with a modified V-Way cache implementation. Our RAC adapts to complex cache access patterns and optimizes cache usage by improving the utilization…

Hardware Architecture · Computer Science 2025-02-05 Vrushank Ahire , Pranav Menon , Aniruddh Muley , Abhinandan S. Prasad

Caching systems have long been crucial for improving the performance of a wide variety of network and web based online applications. In such systems, end-to-end application performance heavily depends on the fraction of objects transferred…

Performance · Computer Science 2021-06-14 Nitish K. Panigrahy , Philippe Nain , Giovanni Neglia , Don Towsley

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Robotics · Computer Science 2026-03-25 Han Sun , Sheng Liu , Yizhao Wang , Zhenning Zhou , Shuai Wang , Haibo Yang , Jingyuan Sun , Qixin Cao

In recommendation systems, practitioners observed that increase in the number of embedding tables and their sizes often leads to significant improvement in model performances. Given this and the business importance of these models to major…

Machine Learning · Computer Science 2020-10-26 Jie Amy Yang , Jianyu Huang , Jongsoo Park , Ping Tak Peter Tang , Andrew Tulloch

Learning-based approaches for solving large sequential decision making problems have become popular in recent years. The resulting agents perform differently and their characteristics depend on those of the underlying learning approach.…

Machine Learning · Computer Science 2020-08-04 Timo P. Gros , Daniel Höller , Jörg Hoffmann , Verena Wolf

Prior work has proposed a simple strategy for reinforcement learning (RL): label experience with the outcomes achieved in that experience, and then imitate the relabeled experience. These outcome-conditioned imitation learning methods are…

Machine Learning · Computer Science 2023-02-21 Benjamin Eysenbach , Soumith Udatha , Sergey Levine , Ruslan Salakhutdinov

We address the challenge of learning safe and robust decision policies in presence of uncertainty in context of the real scientific problem of adaptive resource oversubscription to enhance resource efficiency while ensuring safety against…

Machine Learning · Computer Science 2024-01-17 Lu Wang , Mayukh Das , Fangkai Yang , Chao Duo , Bo Qiao , Hang Dong , Si Qin , Chetan Bansal , Qingwei Lin , Saravan Rajmohan , Dongmei Zhang , Qi Zhang

The budgeted information gathering problem - where a robot with a fixed fuel budget is required to maximize the amount of information gathered from the world - appears in practice across a wide range of applications in autonomous…

Robotics · Computer Science 2016-11-15 Sanjiban Choudhury , Ashish Kapoor , Gireeja Ranade , Debadeepta Dey

We investigate how an adversary can optimally use its query budget for targeted evasion attacks against deep neural networks in a black-box setting. We formalize the problem setting and systematically evaluate what benefits the adversary…

Machine Learning · Computer Science 2020-10-23 Mika Juuti , Buse Gul Atli , N. Asokan

Iterative preference optimization methods have recently been shown to perform well for general instruction tuning tasks, but typically make little improvement on reasoning tasks (Yuan et al., 2024, Chen et al., 2024). In this work we…

Computation and Language · Computer Science 2024-06-27 Richard Yuanzhe Pang , Weizhe Yuan , Kyunghyun Cho , He He , Sainbayar Sukhbaatar , Jason Weston