Related papers: CEIL: Generalized Contextual Imitation Learning

Learning models that gracefully handle distribution shifts is central to research on domain generalization, robust optimization, and fairness. A promising formulation is domain-invariant learning, which identifies the key issue of learning…

Imitation learning (IL) enables agents to acquire skills by observing and replicating the behavior of one or multiple experts. In recent years, advances in deep learning have significantly expanded the capabilities and scalability of…

We study Imitation Learning (IL) from Observations alone (ILFO) in large-scale MDPs. While most IL algorithms rely on an expert to directly provide actions to the learner, in this setting the expert only supplies sequences of observations.…

Class-incremental learning (CIL) has been widely studied under the setting of starting from a small number of classes (base classes). Instead, we explore an understudied real-world setting of CIL that starts with a strong model pre-trained…

Real-world robot manipulation in dynamic unstructured environments requires lifelong adaptability to evolving objects, scenes and tasks. Traditional imitation learning relies on static training paradigms, which are ill-suited for lifelong…

In-context learning (ICL) derives its power from enabling Large Language Models to adapt to new tasks via prompt-based reasoning alone, entirely bypassing the need for parameter updates. Existing theories primarily study ICL in single-task…

In this paper, we study offline-to-online Imitation Learning (IL) that pretrains an imitation policy from static demonstration data, followed by fast finetuning with minimal environmental interaction. We find the na\"ive combination of…

Imitation learning is a central problem in reinforcement learning where the goal is to learn a policy that mimics the expert's behavior. In practice, it is often challenging to learn the expert policy from a limited number of demonstrations…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…

Class-incremental learning (CIL) is a particularly challenging variant of continual learning, where the goal is to learn to discriminate between all classes presented in an incremental fashion. Existing approaches often suffer from…

Exemplar-free class incremental learning (EF-CIL) is a nontrivial task that requires continuously enriching model capability with new classes while maintaining previously learned knowledge without storing and replaying any old class…

Class-incremental learning (CIL) aims to enable models to continuously learn new classes while overcoming catastrophic forgetting. The introduction of pre-trained models has brought new tuning paradigms to CIL. In this paper, we revisit…

With the increasing ability of large language models (LLMs), in-context learning (ICL) has evolved as a new paradigm for natural language processing (NLP), where instead of fine-tuning the parameters of an LLM specific to a downstream task…

Recent advancements in video large multimodal models (LMMs) have significantly improved their video understanding and reasoning capabilities. However, their performance drops on out-of-distribution (OOD) tasks that are underrepresented in…

Imitation learning (IL) is a popular approach in the continuous control setting as among other reasons it circumvents the problems of reward mis-specification and exploration in reinforcement learning (RL). In IL from demonstrations, an…

Class incremental learning (CIL) is a challenging setting of continual learning, which learns a series of tasks sequentially. Each task consists of a set of unique classes. The key feature of CIL is that no task identifier (or task-id) is…

Recent research has investigated the underlying mechanisms of in-context learning (ICL) both theoretically and empirically, often using data generated from simple function classes. However, the existing work often focuses on the sequence…

In imitation learning, imitators and demonstrators are policies for picking actions given past interactions with the environment. If we run an imitator, we probably want events to unfold similarly to the way they would have if the…

Real-world environments are inherently non-stationary, frequently introducing new classes over time. This is especially common in time series classification, such as the emergence of new disease classification in healthcare or the addition…

We study online adversarial imitation learning (AIL), where an agent learns from offline expert demonstrations and interacts with the environment online without access to rewards. Despite strong empirical results, the benefits of online…