相关论文: Sample-Efficient Policy Learning based on Complete…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Learning control policies for visual servoing in novel environments is an important problem. However, standard model-free policy learning methods are slow. This paper explores planner cloning: using behavior cloning to learn policies that…

Behavior Cloning (BC) is an effective imitation learning technique and has even been adopted in some safety-critical domains such as autonomous vehicles. BC trains a policy to mimic the behavior of an expert by using a dataset composed of…

Many of the challenges facing today's reinforcement learning (RL) algorithms, such as robustness, generalization, transfer, and computational efficiency are closely related to compression. Prior work has convincingly argued why minimizing…

Most existing policy learning solutions require the learning agents to receive high-quality supervision signals such as well-designed rewards in reinforcement learning (RL) or high-quality expert demonstrations in behavioral cloning (BC).…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…

Given a dataset of expert agent interactions with an environment of interest, a viable method to extract an effective agent policy is to estimate the maximum likelihood policy indicated by this data. This approach is commonly referred to as…

Recent Offline Reinforcement Learning methods have succeeded in learning high-performance policies from fixed datasets of experience. A particularly effective approach learns to first identify and then mimic optimal decision-making…

The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…

Preference-based reinforcement learning (PbRL) is an approach that enables RL agents to learn from preference, which is particularly useful when formulating a reward function is challenging. Existing PbRL methods generally involve a…

This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available exclusively during training. We formalize this as a Partially…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Model Predictive Control (MPC) is widely used in robot control by optimizing a sequence of control outputs over a finite-horizon. Computational approaches for MPC include deterministic methods (e.g., iLQR and COBYLA), as well as…

In this paper, we propose an online learning-based predictive control (LPC) approach designed for nonlinear systems that lack explicit system dynamics. Unlike traditional model predictive control (MPC) algorithms that rely on known system…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

Policy search can in principle acquire complex strategies for control of robots and other autonomous systems. When the policy is trained to process raw sensory inputs, such as images and depth maps, it can also acquire a strategy that…

In this paper, we study a novel task that enables partial knowledge transfer from pre-trained models, which we term as Partial Network Cloning (PNC). Unlike prior methods that update all or at least part of the parameters in the target…

The unaffordable computation load of nonlinear model predictive control (NMPC) has prevented it for being used in robots with high sampling rates for decades. This paper is concerned with the policy learning problem for nonlinear MPC with…