Related papers: Neuro-Inspired Inverse Learning for Planning and C…
Iterative Learning Control (ILC) is a technique for adaptive feed-forward control of electro-mechanical plant that either performs programmed periodic behavior or rejects quasi-periodic disturbances. For example, ILC can suppress…
This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…
In this paper, we address the problem of reference tracking for uncertain nonlinear systems. Since collecting data from the target system (i.e., the system of interest) is often challenging, our objective is to design optimal controllers…
Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…
The discipline of automatic control is making increased use of concepts that originate from the domain of machine learning. Herein, reinforcement learning (RL) takes an elevated role, as it is inherently designed for sequential decision…
Inverse Reinforcement Learning (IRL) aims to reconstruct the reward function from expert demonstrations to facilitate policy learning, and has demonstrated its remarkable success in imitation learning. To promote expert-like behavior,…
In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…
Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…
This paper proposes an inverse reinforcement learning (IRL) framework to accelerate learning when the learner-teacher \textit{interaction} is \textit{limited} during training. Our setting is motivated by the realistic scenarios where a…
Existing Reinforcement Learning (RL) systems encounter significant challenges when applied to real-world scenarios, primarily due to poor generalization across environments that differ from their training conditions. This thesis explores…
An effective way to achieve intelligence is to simulate various intelligent behaviors in the human brain. In recent years, bio-inspired learning methods have emerged, and they are different from the classical mathematical programming…
We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…
The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…
Class-Incremental Learning (CIL) [40] trains classifiers under a strict memory budget: in each incremental phase, learning is done for new data, most of which is abandoned to free space for the next phase. The preserved data are exemplars…
This paper presents an online intention prediction framework for estimating the goal state of autonomous systems in real time, even when intention is time-varying, and system dynamics or objectives include unknown parameters. The problem is…
Learning the intents of an agent, defined by its goals or motion style, is often extremely challenging from just a few examples. We refer to this problem as task concept learning and present our approach, Few-Shot Task Learning through…
This article studies inverse reinforcement learning (IRL) for the stochastic linear-quadratic optimal control problem, where two agents are considered. A learner agent does not know the expert agent's performance cost function, but it…
Most recently proposed methods for Neural Program Induction work under the assumption of having a large set of input/output (I/O) examples for learning any underlying input-output mapping. This paper aims to address the problem of data and…
Embodied task planning requires agents to execute long-horizon, goal-directed actions in complex 3D environments, where success depends on both immediate perception and accumulated experience across tasks. However, most existing LLM-based…
The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations with more robustness to error compounding than behavioral…