Related papers: A Coupled Flow Approach to Imitation Learning

Imitation learning (IL) consists of a set of tools that leverage expert demonstrations to quickly learn policies. However, if the expert is suboptimal, IL can yield policies with inferior performance compared to reinforcement learning (RL).…

Normalizing flows are a popular class of models for approximating probability distributions. However, their invertible nature limits their ability to model target distributions whose support have a complex topological structure, such as…

In current deep learning paradigms, local training or the Standalone framework tends to result in overfitting and thus poor generalizability. This problem can be addressed by Distributed or Federated Learning (FL) that leverages a parameter…

Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and…

While behavior cloning with flow/diffusion policies excels at learning complex skills from demonstrations, it remains vulnerable to distributional shift, and standard RL methods struggle to fine-tune these models due to their iterative…

Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…

Action-constrained reinforcement learning (ACRL) is a popular approach for solving safety-critical and resource-allocation related decision making problems. A major challenge in ACRL is to ensure agent taking a valid action satisfying…

Federated Learning, a new machine learning paradigm enhancing the use of edge devices, is receiving a lot of attention in the pervasive community to support the development of smart services. Nevertheless, this approach still needs to be…

Federated learning (FL) is a new paradigm for distributed machine learning that allows a global model to be trained across multiple clients without compromising their privacy. Although FL has demonstrated remarkable success in various…

Imitation learning is a promising approach for enabling generalist capabilities in humanoid robots, but its scaling is fundamentally constrained by the scarcity of high-quality expert demonstrations. This limitation can be mitigated by…

Normalizing Flows are a promising new class of algorithms for unsupervised learning based on maximum likelihood optimization with change of variables. They offer to learn a factorized component representation for complex nonlinear data and,…

Federated Learning (FL) has emerged as a machine learning approach able to preserve the privacy of user's data. Applying FL, clients train machine learning models on a local dataset and a central server aggregates the learned parameters…

Imitation Learning (IL), also referred to as Learning from Demonstration (LfD), holds significant promise for capturing expert motor skills through efficient imitation, facilitating adept navigation of complex scenarios. A persistent…

Deep reinforcement learning (DRL) is a booming area of artificial intelligence. Many practical applications of DRL naturally involve more than one collaborative learners, making it important to study DRL in a multi-agent context. Previous…

Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…

The normalization constraint on probability density poses a significant challenge for solving the Fokker-Planck equation. Normalizing Flow, an invertible generative model leverages the change of variables formula to ensure probability…

Distillation addresses the slow sampling problem in diffusion models by creating models with smaller size or fewer steps that approximate the behavior of high-step teachers. In this work, we propose a reinforcement learning based…

For question-answering (QA) tasks, in-context learning (ICL) enables language models to generate responses without modifying their parameters by leveraging examples provided in the input. However, the effectiveness of ICL heavily depends on…

Continual learning (CL) is a setting in which an agent has to learn from an incoming stream of data sequentially. CL performance evaluates the model's ability to continually learn and solve new problems with incremental available…

Recently, there has been an increasing need to develop agents capable of solving multiple tasks within the same environment, especially when these tasks are naturally associated with language. In this work, we propose a novel approach that…