Related papers: Dynamic Conditional Imitation Learning for Autonom…

Class incremental learning (CIL) trains a network on sequential tasks with separated categories in each task but suffers from catastrophic forgetting, where models quickly lose previously learned knowledge when acquiring new tasks. The…

Continual Imitation Learning (CiL) involves extracting and accumulating task knowledge from demonstrations across multiple stages and tasks to achieve a multi-task policy. With recent advancements in foundation models, there has been a…

The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

The aim in imitation learning is to learn effective policies by utilizing near-optimal expert demonstrations. However, high-quality demonstrations from human experts can be expensive to obtain in large numbers. On the other hand, it is…

Offline reinforcement learning (RL) tasks require the agent to learn from a pre-collected dataset with no further interactions with the environment. Despite the potential to surpass the behavioral policies, RL-based methods are generally…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

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…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Deep neural networks perform remarkably well in close-world scenarios. However, novel classes emerged continually in real applications, making it necessary to learn incrementally. Class-incremental learning (CIL) aims to gradually recognize…

Class-incremental learning (CIL) with pre-trained models (PTMs) faces a critical trade-off between efficient adaptation and long-term stability. While analytic learning enables rapid, recursive closed-form updates, its efficacy is often…

Vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, while still lacking…

Instance-incremental learning (IIL) focuses on learning continually with data of the same classes. Compared to class-incremental learning (CIL), the IIL is seldom explored because IIL suffers less from catastrophic forgetting (CF). However,…

Class-incremental learning (CIL) has emerged as a means to learn new classes incrementally without catastrophic forgetting of previous classes. Recently, CIL has undergone a paradigm shift towards dynamic architectures due to their superior…

Class-Incremental Learning (CIL) requires a learning system to learn new classes while retaining previously learned knowledge. However, in real-world scenarios such as autonomous driving, a system trained on urban roads in sunny weather may…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…

Class Incremental Learning (CIL) is challenging due to catastrophic forgetting. On top of that, Exemplar-free Class Incremental Learning is even more challenging due to forbidden access to previous task data. Recent exemplar-free CIL…