Related papers: CEIL: Generalized Contextual Imitation Learning

We study the problem of offline learning in automated decision systems under the contextual bandits model. We are given logged historical data consisting of contexts, (randomized) actions, and (nonnegative) rewards. A common goal is to…

In-Context Learning (ICL) has gained prominence due to its ability to perform tasks without requiring extensive training data and its robustness to noisy labels. A typical ICL workflow involves selecting localized examples relevant to a…

An inverse reinforcement learning (IRL) agent learns to act intelligently by observing expert demonstrations and learning the expert's underlying reward function. Although learning the reward functions from demonstrations has achieved great…

Policy learning under action constraints plays a central role in ensuring safe behaviors in various robot control and resource allocation applications. In this paper, we study a new problem setting termed Action-Constrained Imitation…

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).…

Interactive Imitation Learning (IIL) is a branch of Imitation Learning (IL) where human feedback is provided intermittently during robot execution allowing an online improvement of the robot's behavior. In recent years, IIL has increasingly…

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and…

New categories may be introduced over time, or existing categories may need to be reclassified. Class incremental learning (CIL) is employed for the gradual acquisition of knowledge about new categories while preserving information about…

One-shot Imitation Learning~(OSIL) aims to imbue AI agents with the ability to learn a new task from a single demonstration. To supervise the learning, OSIL typically requires a prohibitively large number of paired expert demonstrations --…

Generative adversarial imitation learning (GAIL) is a popular inverse reinforcement learning approach for jointly optimizing policy and reward from expert trajectories. A primary question about GAIL is whether applying a certain policy…

Class Incremental Learning (CIL) aims to sequentially learn new classes while avoiding catastrophic forgetting of previous knowledge. We propose to use Masked Autoencoders (MAEs) as efficient learners for CIL. MAEs were originally designed…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

This paper studies offline Imitation Learning (IL) where an agent learns to imitate an expert demonstrator without additional online environment interactions. Instead, the learner is presented with a static offline dataset of…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

In-context learning (ICL) refers to a remarkable capability of pretrained large language models, which can learn a new task given a few examples during inference. However, theoretical understanding of ICL is largely under-explored,…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Deep models, e.g., CNNs and Vision Transformers, have achieved impressive achievements in many vision tasks in the closed world. However, novel classes emerge from time to time in our ever-changing world, requiring a learning system to…

Recent work shows that in-context learning and optimization of in-context examples (ICE) can significantly improve the accuracy of large language models (LLMs) on a wide range of tasks, leading to an apparent consensus that ICE optimization…

Imitation Learning (IL) methods seek to match the behavior of an agent with that of an expert. In the present work, we propose a new IL method based on a conceptually simple algorithm: Primal Wasserstein Imitation Learning (PWIL), which…

In-Context Learning (ICL) combined with pre-trained large language models has achieved promising results on various NLP tasks. However, ICL requires high-quality annotated demonstrations which might not be available in real-world scenarios.…