相关论文: Shared Multi-Task Imitation Learning for Indoor Se…

Recent data-driven methods leveraging deep reinforcement learning have been an effective paradigm for developing controllers that enable physically simulated characters to produce natural human-like behaviors. However, these data-driven…

Is there a way for a designer to evaluate the performance of a given hood frame geometry without spending significant time on simulation setup? This paper seeks to address this challenge by developing a multimodal machine-learning (MMML)…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

Typical deep visual recognition models are capable of performing the one task they were trained on. In this paper, we tackle the extremely difficult problem of combining distinct models with different initializations, each solving a…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Learning to interact with the environment not only empowers the agent with manipulation capability but also generates information to facilitate building of action understanding and imitation capabilities. This seems to be a strategy adopted…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

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…

Consider learning an imitation policy on the basis of demonstrated behavior from multiple environments, with an eye towards deployment in an unseen environment. Since the observable features from each setting may be different, directly…

Successful collaboration requires team members to stay aligned, especially in complex sequential tasks. Team members must dynamically coordinate which subtasks to perform and in what order. However, real-world constraints like partial…

Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where different tasks share a set of actions. In such environments a compound policy may be learnt with shared neural network…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Despite significant progress, deep reinforcement learning (RL) suffers from data-inefficiency and limited generalization. Recent efforts apply meta-learning to learn a meta-learner from a set of RL tasks such that a novel but related task…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

Data collection in imitation learning often requires significant, laborious human supervision, such as numerous demonstrations, and/or frequent environment resets for methods that incorporate reinforcement learning. In this work, we propose…

Multi-instance learning (MIL) is a widely-applied technique in practical applications that involve complex data structures. MIL can be broadly categorized into two types: traditional methods and those based on deep learning. These…

Effectively handling the interplay between spatial perception and action generation remains a critical bottleneck in robotic manipulation. Existing methods typically treat spatial perception and action execution as decoupled or strictly…

Learning robust navigation policies remains a core challenge in robotics. Offline imitation learning suffers from distribution shift and compounding errors at rollout, while reinforcement learning requires reward engineering and learns…

Masked Image Modeling (MIM) achieves outstanding success in self-supervised representation learning. Unfortunately, MIM models typically have huge computational burden and slow learning process, which is an inevitable obstacle for their…

Recently, motion generation by machine learning has been actively researched to automate various tasks. Imitation learning is one such method that learns motions from data collected in advance. However, executing long-term tasks remains…