相关论文: RAIL: Risk-Averse Imitation Learning

When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…

Adversarial attacks against deep neural networks are continuously evolving. Without effective defenses, they can lead to catastrophic failure. The long-standing and arguably most powerful natural defense system is the mammalian immune…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computationally inefficient and sensitive to environmental changes.…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Active imitation learning (AIL) combats covariate shift by querying an expert during training. However, expert action labeling often dominates the cost, especially in GPU-intensive simulators, human-in-the-loop settings, and robot fleets…

Tail risk protection is in the focus of the financial industry and requires solid mathematical and statistical tools, especially when a trading strategy is derived. Recent hype driven by machine learning (ML) mechanisms has raised the…

Class incremental learning (CIL) algorithms aim to continually learn new object classes from incrementally arriving data while not forgetting past learned classes. The common evaluation protocol for CIL algorithms is to measure the average…

Teaching large language models (LLMs) to reason during post-training typically relies on reinforcement learning with explicit outcome- or process-based reward functions. However, in many real-world settings, obtaining or defining such…

Inverse reinforcement learning (IRL) deals with estimating an agent's utility function from its actions. In this paper, we consider how an agent can hide its strategy and mitigate an adversarial IRL attack; we call this inverse IRL (I-IRL).…

Safe reinforcement learning has traditionally relied on predefined constraint functions to ensure safety in complex real-world tasks, such as autonomous driving. However, defining these functions accurately for varied tasks is a persistent…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…

Surgical action planning requires predicting future instrument-verb-target triplets for real-time assistance. While teleoperated robotic surgery provides natural expert demonstrations for imitation learning (IL), reinforcement learning (RL)…

Natural data are often long-tail distributed over semantic classes. Existing recognition methods tackle this imbalanced classification by placing more emphasis on the tail data, through class re-balancing/re-weighting or ensembling over…

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…

Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…

Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via…

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…

Inverse Reinforcement Learning (IRL) techniques deal with the problem of deducing a reward function that explains the behavior of an expert agent who is assumed to act optimally in an underlying unknown task. In several problems of…

As AI systems become increasingly autonomous, reliably aligning their decision-making with human preferences is essential. Inverse reinforcement learning (IRL) offers a promising approach to infer preferences from demonstrations. These…