Related papers: Single-Reset Divide & Conquer Imitation Learning
Class-incremental learning (CIL) enables models to continuously learn new categories from sequential tasks without forgetting previously acquired knowledge. While recent advances in vision-language models such as CLIP have demonstrated…
Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…
Surgical robot task automation has recently attracted great attention due to its potential to benefit both surgeons and patients. Reinforcement learning (RL) based approaches have demonstrated promising ability to provide solutions to…
Imitation learning aims to solve the problem of defining reward functions in real-world decision-making tasks. The current popular approach is the Adversarial Imitation Learning (AIL) framework, which matches expert state-action occupancy…
Diffusion models excel at generative modeling (e.g., text-to-image) but sampling requires multiple denoising network passes, limiting practicality. Efforts such as progressive distillation or consistency distillation have shown promise by…
Data collection in imitation learning often requires significant, laborious human supervision, such as numerous demonstrations, and/or frequent environment resets for methods that incorporate reinforcement learning. In this work, we propose…
Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…
The task of Long-tailed Class Incremental Learning (LT-CIL) addresses the sequential learning of new classes from datasets with imbalanced class distributions. This scenario intensifies the fundamental problem of catastrophic forgetting,…
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…
While reinforcement learning (RL) provides a framework for learning through trial and error, translating RL algorithms into the real world has remained challenging. A major hurdle to real-world application arises from the development of…
The rehearsal strategy is widely used to alleviate the catastrophic forgetting problem in class incremental learning (CIL) by preserving limited exemplars from previous tasks. With imbalanced sample numbers between old and new classes, the…
Class Incremental Learning (CIL) aims to enable models to learn new classes sequentially while retaining knowledge of previous ones. Although current methods have alleviated catastrophic forgetting (CF), recent studies highlight that the…
We introduce Distribution Contractive Reinforcement Learning (DICE-RL), a framework that uses reinforcement learning (RL) as a "distribution contraction" operator to refine pretrained generative robot policies. DICE-RL turns a pretrained…
Deep neural networks (DNNs) often suffer from "catastrophic forgetting" during incremental learning (IL) --- an abrupt degradation of performance on the original set of classes when the training objective is adapted to a newly added set of…
Batch reinforcement learning (RL) aims at leveraging pre-collected data to find an optimal policy that maximizes the expected total rewards in a dynamic environment. The existing methods require absolutely continuous assumption (e.g., there…
Class-incremental learning (CIL) aims to learn new classes while retaining previous knowledge. Although pre-trained model (PTM) based approaches show strong performance, directly fine-tuning PTMs on incremental task streams often causes…
Reinforcement learning (RL) presents a promising framework to learn policies through environment interaction, but often requires an infeasible amount of interaction data to solve complex tasks from sparse rewards. One direction includes…
Cross-modal retrieval (CMR) typically involves learning common representations to directly measure similarities between multimodal samples. Most existing CMR methods commonly assume multimodal samples in pairs and employ joint training to…
Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…
Deep reinforcement learning (DRL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. We propose two novel data augmentation techniques for DRL in…