相关论文: Learning Task Specifications from Demonstrations

Recent advances in multi-task peer prediction have greatly expanded our knowledge about the power of multi-task peer prediction mechanisms. Various mechanisms have been proposed in different settings to elicit different types of…

Current state-of-the-art approaches to text classification typically leverage BERT-style Transformer models with a softmax classifier, jointly fine-tuned to predict class labels of a target task. In this paper, we instead propose an…

Standard regularized training procedures correspond to maximizing a posterior distribution over parameters, known as maximum a posteriori (MAP) estimation. However, model parameters are of interest only insomuch as they combine with the…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…

Given a learning problem with real-world tradeoffs, which cost function should the model be trained to optimize? This is the metric selection problem in machine learning. Despite its practical interest, there is limited formal guidance on…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling non-roboticist end-users to teach robots to perform a task by providing a human demonstration. However, modern LfD techniques, e.g. inverse reinforcement learning…

Learning from demonstration (LfD) is the process of building behavioral models of a task from demonstrations provided by an expert. These models can be used e.g. for system control by generalizing the expert demonstrations to previously…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

Maximum entropy models provide the least constrained probability distributions that reproduce statistical properties of experimental datasets. In this work we characterize the learning dynamics that maximizes the log-likelihood in the case…

Optimisation problems in science and engineering typically involve finding the ground state (i.e. the minimum energy configuration) of a cost function with respect to many variables. If the variables are corrupted by noise then this…

Many complicated real-world tasks can be broken down into smaller, more manageable parts, and planning with prior knowledge extracted from these simplified pieces is crucial for humans to make accurate decisions. However, replicating this…

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and…

A significant challenge for the practical application of reinforcement learning in the real world is the need to specify an oracle reward function that correctly defines a task. Inverse reinforcement learning (IRL) seeks to avoid this…

Reinforcement learning problems are often described through rewards that indicate if an agent has completed some task. This specification can yield desirable behavior, however many problems are difficult to specify in this manner, as one…

Reinforcement learning (RL) agents optimize only the features specified in a reward function and are indifferent to anything left out inadvertently. This means that we must not only specify what to do, but also the much larger space of what…

Existing learning from demonstration algorithms usually assume access to expert demonstrations. However, this assumption is limiting in many real-world applications since the collected demonstrations may be suboptimal or even consist of…

Specifying reward functions for complex tasks like object manipulation or driving is challenging to do by hand. Reward learning seeks to address this by learning a reward model using human feedback on selected query policies. This shifts…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Training the deep neural networks that dominate NLP requires large datasets. These are often collected automatically or via crowdsourcing, and may exhibit systematic biases or annotation artifacts. By the latter we mean spurious…

The aim of Inverse Reinforcement Learning (IRL) is to infer a reward function $R$ from a policy $\pi$. To do this, we need a model of how $\pi$ relates to $R$. In the current literature, the most common models are optimality, Boltzmann…