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Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…

Deep reinforcement learning (RL) has achieved several high profile successes in difficult decision-making problems. However, these algorithms typically require a huge amount of data before they reach reasonable performance. In fact, their…

Unsupervised Skill Discovery (USD) allows agents to autonomously learn diverse behaviors without task-specific rewards. While recent USD methods have shown promise, their application to real-world robotics remains underexplored. In this…

While deep reinforcement learning has achieved promising results in challenging decision-making tasks, the main bones of its success --- deep neural networks are mostly black-boxes. A feasible way to gain insight into a black-box model is…

Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…

Knowledge distillation (KD) is a powerful paradigm for compressing large language models (LLMs), whose effectiveness depends on intertwined choices of divergence direction, optimization strategy, and data regime. We break down the design of…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

Advances in self-distillation have shown that when knowledge is distilled from a teacher to a student using the same deep learning (DL) architecture, the student performance can surpass the teacher particularly when the network is…

Reinforcement learning is a general method for learning in sequential settings, but it can often be difficult to specify a good reward function when the task is complex. In these cases, preference feedback or expert demonstrations can be…

In the field of large language models (LLMs), Knowledge Distillation (KD) is a critical technique for transferring capabilities from teacher models to student models. However, existing KD methods face limitations and challenges in…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

This work studies knowledge distillation (KD) for large language models (LLMs) through preference optimization. We propose a reward-guided imitation learning framework for sequential KD, formulating a min-max optimization problem between…

Collaborative fairness is a crucial challenge in federated learning. However, existing approaches often overlook a practical yet complex form of heterogeneity: imbalanced covariate shift. We provide a theoretical analysis of this setting,…

Most existing federated learning algorithms are based on the vanilla FedAvg scheme. However, with the increase of data complexity and the number of model parameters, the amount of communication traffic and the number of iteration rounds for…

To date, distributional reinforcement learning (distributional RL) methods have exclusively focused on the discounted setting, where an agent aims to optimize a discounted sum of rewards over time. In this work, we extend distributional RL…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Transfer Learning (TL) is a powerful tool that enables robots to transfer learned policies across different environments, tasks, or embodiments. To further facilitate this process, efforts have been made to combine it with Learning from…

In 2015, Google's DeepMind announced an advancement in creating an autonomous agent based on deep reinforcement learning (DRL) that could beat a professional player in a series of 49 Atari games. However, the current manifestation of DRL is…

Federated learning (FL) typically faces data heterogeneity, i.e., distribution shifting among clients. Sharing clients' information has shown great potentiality in mitigating data heterogeneity, yet incurs a dilemma in preserving privacy…

The learning efficiency and generalization ability of an intelligent agent can be greatly improved by utilizing a useful set of skills. However, the design of robot skills can often be intractable in real-world applications due to the…