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

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Masked image modeling (MIM) as pre-training is shown to be effective for numerous vision downstream tasks, but how and where MIM works remain unclear. In this paper, we compare MIM with the long-dominant supervised pre-trained models from…

An important goal in reinforcement learning is to create agents that can quickly adapt to new goals while avoiding situations that might cause damage to themselves or their environments. One way agents learn is through exploration…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

Heterogeneous multi-task learning (HMTL) is an important topic in multi-task learning (MTL). Most existing HMTL methods usually solve either scenario where all tasks reside in the same input (feature) space yet unnecessarily the consistent…

We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…

The success of deep learning methods in medical image segmentation tasks usually requires a large amount of labeled data. However, obtaining reliable annotations is expensive and time-consuming. Semi-supervised learning has attracted much…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

In this paper, we address the problem of behavior-based cooperative navigation of mobile robots using safe multi-agent reinforcement learning~(MARL). Our work is the first to focus on cooperative navigation without individual reference…

In this paper, we propose the MIML (Multi-Instance Multi-Label learning) framework where an example is described by multiple instances and associated with multiple class labels. Compared to traditional learning frameworks, the MIML…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

Imitation Learning (IL) aims to discover a policy by minimizing the discrepancy between the agent's behavior and expert demonstrations. However, IL is susceptible to limitations imposed by noisy demonstrations from non-expert behaviors,…

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Multi-task learning (MTL) improves prediction performance in different contexts by learning models jointly on multiple different, but related tasks. Network data, which are a priori data with a rich relational structure, provide an…