Related papers: Data Efficient Behavior Cloning for Fine Manipulat…

Sustaining real-world human-robot interactions requires robots to be sensitive to human behavioural idiosyncrasies and adapt their perception and behaviour models to cater to these individual preferences. For affective robots, this entails…

Class incremental learning (CIL) aims to recognize both the old and new classes along the increment tasks. Deep neural networks in CIL suffer from catastrophic forgetting and some approaches rely on saving exemplars from previous tasks,…

Large language models (LLMs) have exhibited striking in-context learning (ICL) ability to adapt to target tasks with a few input-output demonstrations. For better ICL, different methods are proposed to select representative demonstrations…

In-context learning (ICL) is often motivated by the intuition that demonstrations help because they provide correct input-output examples. However, we reveal a counterintuitive phenomenon: correctness does not guarantee exemplar utility,…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Imitation learning often needs a large demonstration set in order to handle the full range of situations that an agent might find itself in during deployment. However, collecting expert demonstrations can be expensive. Recent work in…

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

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…

The partial label challenge in Multi-Label Class-Incremental Learning (MLCIL) arises when only the new classes are labeled during training, while past and future labels remain unavailable. This issue leads to a proliferation of…

Reliable prediction of train delays is essential for enhancing the robustness and efficiency of railway transportation systems. In this work, we reframe delay forecasting as a stochastic simulation task, modeling state-transition dynamics…

Behavior cloning (BC) is a widely-used approach in imitation learning, where a robot learns a control policy by observing an expert supervisor. However, the learned policy can make errors and might lead to safety violations, which limits…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

Imitation learning holds great promise for addressing the complex task of autonomous urban driving, as experienced human drivers can navigate highly challenging scenarios with ease. While behavior cloning is a widely used imitation learning…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…

Deep neural networks are prone to overfitting noisy labels, resulting in poor generalization performance. To overcome this problem, we present a simple and effective method self-ensemble label correction (SELC) to progressively correct…

Continual learning (CL) aims to train models that can learn a sequence of tasks without forgetting previously acquired knowledge. A core challenge in CL is balancing stability -- preserving performance on old tasks -- and plasticity --…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

Class-Incremental Learning (CIL) aims to build classification models from data streams. At each step of the CIL process, new classes must be integrated into the model. Due to catastrophic forgetting, CIL is particularly challenging when…

The focus of this study is on Unsupervised Continual Learning (UCL), as it presents an alternative to Supervised Continual Learning which needs high-quality manual labeled data. The experiments under the UCL paradigm indicate a phenomenon…