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We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

Training a policy in a source domain for deployment in the target domain under a dynamics shift can be challenging, often resulting in performance degradation. Previous work tackles this challenge by training on the source domain with…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

Imitation learning aims to learn a policy from observing expert demonstrations without access to reward signals from environments. Generative adversarial imitation learning (GAIL) formulates imitation learning as adversarial learning,…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

We study the question of how to imitate tasks across domains with discrepancies such as embodiment, viewpoint, and dynamics mismatch. Many prior works require paired, aligned demonstrations and an additional RL step that requires…

Continual learning (CL) with Vision-Language Models (VLMs) has overcome the constraints of traditional CL, which only focuses on previously encountered classes. During the CL of VLMs, we need not only to prevent the catastrophic forgetting…

Deep learning has achieved notable success in 3D object detection with the advent of large-scale point cloud datasets. However, severe performance degradation in the past trained classes, i.e., catastrophic forgetting, still remains a…

Incremental learning (IL) aims to overcome catastrophic forgetting of previous tasks while learning new ones. Existing IL methods make strong assumptions that the incoming task type will either only increases new classes or domains (i.e.…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Generating large-scale synthetic data in simulation is a feasible alternative to collecting/labelling real data for training vision-based deep learning models, albeit the modelling inaccuracies do not generalize to the physical world. In…

Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…

Incremental Learning (IL) aims to accumulate knowledge from sequential input tasks while overcoming catastrophic forgetting. Existing IL methods typically assume that an incoming task has only increments of classes or domains, referred to…

Current lane detection methods are struggling with the invisibility lane issue caused by heavy shadows, severe road mark degradation, and serious vehicle occlusion. As a result, discriminative lane features can be barely learned by the…

Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…

Image-based Reinforcement Learning is known to suffer from poor sample efficiency and generalisation to unseen visuals such as distractors (task-independent aspects of the observation space). Visual domain randomisation encourages transfer…

In this paper, we consider cross-domain imitation learning (CDIL) in which an agent in a target domain learns a policy to perform well in the target domain by observing expert demonstrations in a source domain without accessing any reward…

Inverse reinforcement learning (IRL) is typically formulated as maximizing entropy subject to matching the distribution of expert trajectories. Classical (dual-ascent) IRL guarantees monotonic performance improvement but requires fully…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…