Related papers: Fixing exposure bias with imitation learning needs…
In many real-world settings, an agent must learn to act in environments where no reward signal can be specified, but a set of expert demonstrations is available. Imitation learning (IL) is a popular framework for learning policies from such…
In-context learning (ICL) i.e. showing LLMs only a few task-specific demonstrations has led to downstream gains with no task-specific fine-tuning required. However, LLMs are sensitive to the choice of prompts, and therefore a crucial…
In many real-world visual Imitation Learning (IL) scenarios, there is a misalignment between the agent's and the expert's perspectives, which might lead to the failure of imitation. Previous methods have generally solved this problem by…
We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…
In mobile manipulation (MM), robots can both navigate within and interact with their environment and are thus able to complete many more tasks than robots only capable of navigation or manipulation. In this work, we explore how to apply…
Attention mechanism has enhanced state-of-the-art Neural Machine Translation (NMT) by jointly learning to align and translate. It tends to ignore past alignment information, however, which often leads to over-translation and…
The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…
Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both…
Pre-trained large language models based on Transformers have demonstrated remarkable in-context learning (ICL) abilities. With just a few demonstration examples, the models can implement new tasks without any parameter updates. However, it…
The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations with more robustness to error compounding than behavioral…
We use SMT technology to address a class of problems involving uninterpreted functions and nonlinear real arithmetic. In particular, we focus on problems commonly found in mathematical competitions, such as the International Mathematical…
Identity Switching remains one of the main difficulties Multiple Object Tracking (MOT) algorithms have to deal with. Many state-of-the-art approaches now use sequence models to solve this problem but their training can be affected by biases…
Adversarial Imitation Learning (AIL) is a class of algorithms in Reinforcement learning (RL), which tries to imitate an expert without taking any reward from the environment and does not provide expert behavior directly to the policy…
Prior research shows that large language models (LLMs) exhibit systematic extrapolation bias when forming predictions from both experimental and real-world data, and that prompt-based approaches appear limited in alleviating this bias. We…
A desirable property of interpretable models is small size, so that they are easily understandable by humans. This leads to the following challenges: (a) small sizes typically imply diminished accuracy, and (b) bespoke levers provided by…
We study the calibration of several state of the art neural machine translation(NMT) systems built on attention-based encoder-decoder models. For structured outputs like in NMT, calibration is important not just for reliable confidence with…
We consider learning to play multiplayer imperfect-information games with simultaneous moves and large state-action spaces. Previous attempts to tackle such challenging games have largely focused on model-free learning methods, often…
Machine Translation (MT) is undergoing a paradigm shift, with systems based on fine-tuned large language models (LLM) becoming increasingly competitive with traditional encoder-decoder models trained specifically for translation tasks.…
Inverse Reinforcement Learning (IRL) is a powerful set of techniques for imitation learning that aims to learn a reward function that rationalizes expert demonstrations. Unfortunately, traditional IRL methods suffer from a computational…
We propose an interactive-predictive neural machine translation framework for easier model personalization using reinforcement and imitation learning. During the interactive translation process, the user is asked for feedback on uncertain…