相关论文: Learning human behaviors from motion capture by ad…

In this paper, we study the problem of mobile user profiling, which is a critical component for quantifying users' characteristics in the human mobility modeling pipeline. Human mobility is a sequential decision-making process dependent on…

Reinforcement learning policies based on deep neural networks are vulnerable to imperceptible adversarial perturbations to their inputs, in much the same way as neural network image classifiers. Recent work has proposed several methods to…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may come from a VR controller providing arm motion and body…

We study the problem of sample efficient reinforcement learning, where prior data such as demonstrations are provided for initialization in lieu of a dense reward signal. A natural approach is to incorporate an imitation learning objective,…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Reinforcement learning based dialogue policies are typically trained in interaction with a user simulator. To obtain an effective and robust policy, this simulator should generate user behaviour that is both realistic and varied. Current…

In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can…

Decreasing skilled workers is a very serious problem in the world. To deal with this problem, the skill transfer from experts to robots has been researched. These methods which teach robots by human motion are called imitation learning.…

In model-based reinforcement learning, generative and temporal models of environments can be leveraged to boost agent performance, either by tuning the agent's representations during training or via use as part of an explicit planning…

Imitation learning in a high-dimensional environment is challenging. Most inverse reinforcement learning (IRL) methods fail to outperform the demonstrator in such a high-dimensional environment, e.g., Atari domain. To address this…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

The problem of Learning from Demonstration is targeted at learning to perform tasks based on observed examples. One approach to Learning from Demonstration is Inverse Reinforcement Learning, in which actions are observed to infer rewards.…

We propose a method of learning a policy for human-like locomotion via deep reinforcement learning based on a human anatomical model, muscle actuation, and biologically inspired rewards, without any inherent control rules or reference…

We propose a new method for realistic human motion transfer using a generative adversarial network (GAN), which generates a motion video of a target character imitating actions of a source character, while maintaining high authenticity of…

For a natural social human-robot interaction, it is essential for a robot to learn the human-like social skills. However, learning such skills is notoriously hard due to the limited availability of direct instructions from people to teach a…

Methods for learning from demonstration (LfD) have shown success in acquiring behavior policies by imitating a user. However, even for a single task, LfD may require numerous demonstrations. For versatile agents that must learn many tasks…

How to learn an effective reinforcement learning-based model for control tasks from high-level visual observations is a practical and challenging problem. A key to solving this problem is to learn low-dimensional state representations from…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…