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Federated learning (FL) is a privacy-preserving machine learning paradigm that enables collaborative model training across multiple distributed clients without disclosing their raw data. Personalized federated learning (pFL) has gained…
Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time differ from those in the training data. A popular approach for…
Inferring the intent of an intelligent agent from demonstrations and subsequently predicting its behavior, is a critical task in many collaborative settings. A common approach to solve this problem is the framework of inverse reinforcement…
As a promising learning paradigm integrating computation and communication, federated learning (FL) proceeds the local training and the periodic sharing from distributed clients. Due to the non-i.i.d. data distribution on clients, FL model…
Navigating safely and efficiently in dense and heterogeneous traffic scenarios is challenging for autonomous vehicles (AVs) due to their inability to infer the behaviors or intentions of nearby drivers. In this work, we introduce a…
Growing demands in today's industry results in increasingly stringent performance and throughput specifications. For accurate positioning of high-precision motion systems, feedforward control plays a crucial role. Nonetheless, conventional…
While data plays a crucial role in training contemporary AI models, it is acknowledged that valuable public data will be exhausted in a few years, directing the world's attention towards the massive decentralized private data. However, the…
Recently, motion generation by machine learning has been actively researched to automate various tasks. Imitation learning is one such method that learns motions from data collected in advance. However, executing long-term tasks remains…
Multi-task Inverse Reinforcement Learning (IRL) is the problem of inferring multiple reward functions from expert demonstrations. Prior work, built on Bayesian IRL, is unable to scale to complex environments due to computational…
Scaling Reinforcement Learning to in-the-wild social robot navigation is both data-intensive and unsafe, since policies must learn through direct interaction and inevitably encounter collisions. Offline Imitation learning (IL) avoids these…
This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…
Federated Learning (FL) enables collaborative model training across multiple clients while preserving data privacy. Traditional FL methods often use a global model to fit all clients, assuming that clients' data are independent and…
Advanced life forms, sustained by the synergistic interaction of neural cognitive mechanisms, continually acquire and transfer knowledge throughout their lifespan. In contrast, contemporary machine learning paradigms exhibit limitations in…
Acquiring complex behaviors is essential for artificially intelligent agents, yet learning these behaviors in high-dimensional settings poses a significant challenge due to the vast search space. Traditional reinforcement learning (RL)…
Following the impressive capabilities of in-context learning with large transformers, In-Context Imitation Learning (ICIL) is a promising opportunity for robotics. We introduce Instant Policy, which learns new tasks instantly (without…
We propose a distributional framework for offline Inverse Reinforcement Learning (IRL) that jointly models uncertainty over reward functions and full distributions of returns. Unlike conventional IRL approaches that recover a deterministic…
Federated learning (FL) enables collaborative learning across multiple clients. In most FL work, all clients train a single learning task. However, the recent proliferation of FL applications may increasingly require multiple FL tasks to be…
We study the problem of inverse reinforcement learning (IRL) with the added twist that the learner is assisted by a helpful teacher. More formally, we tackle the following algorithmic question: How could a teacher provide an informative…
Imitation Learning (IL) is an effective learning paradigm exploiting the interactions between agents and environments. It does not require explicit reward signals and instead tries to recover desired policies using expert demonstrations. In…
Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and…