相关论文: Learning a Multi-Modal Policy via Imitating Demons…

In this work, we propose a method for learning driver models that account for variables that cannot be observed directly. When trained on a synthetic dataset, our models are able to learn encodings for vehicle trajectories that distinguish…

Multi-modal data-sets are ubiquitous in modern applications, and multi-modal Variational Autoencoders are a popular family of models that aim to learn a joint representation of the different modalities. However, existing approaches suffer…

In this paper, we propose a novel framework for synthesizing a single multimodal control policy capable of generating diverse behaviors (or modes) and emergent inherent transition maneuvers for bipedal locomotion. In our method, we first…

Variational Autoencoders for multimodal data hold promise for many tasks in data analysis, such as representation learning, conditional generation, and imputation. Current architectures either share the encoder output, decoder input, or…

Multi-agent systems exhibit complex behaviors that emanate from the interactions of multiple agents in a shared environment. In this work, we are interested in controlling one agent in a multi-agent system and successfully learn to interact…

We introduce a conditional generative model for learning to disentangle the hidden factors of variation within a set of labeled observations, and separate them into complementary codes. One code summarizes the specified factors of variation…

We investigate the problem of learning representations that are invariant to certain nuisance or sensitive factors of variation in the data while retaining as much of the remaining information as possible. Our model is based on a…

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…

Standard imitation learning can fail when the expert demonstrators have different sensory inputs than the imitating agent. This is because partial observability gives rise to hidden confounders in the causal graph. In previous work, to work…

Learning multimodal representations is a fundamentally complex research problem due to the presence of multiple heterogeneous sources of information. Although the presence of multiple modalities provides additional valuable information,…

We study the problem of imitation learning from demonstrations of multiple coordinating agents. One key challenge in this setting is that learning a good model of coordination can be difficult, since coordination is often implicit in the…

We consider the problem of learning structured, closed-loop policies (feedback laws) from demonstrations in order to control under-actuated robotic systems, so that formal behavioral specifications such as reaching a target set of states…

Learning from multiple sources of information is an important problem in machine-learning research. The key challenges are learning representations and formulating inference methods that take into account the complementarity and redundancy…

Several factors contribute to the appearance of an object in a visual scene, including pose, illumination, and deformation, among others. Each factor accounts for a source of variability in the data, while the multiplicative interactions of…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

Learning from demonstrations (LfD) typically relies on large amounts of action-labeled expert trajectories, which fundamentally constrains the scale of available training data. A promising alternative is to learn directly from unlabeled…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

We explore methods for option discovery based on variational inference and make two algorithmic contributions. First: we highlight a tight connection between variational option discovery methods and variational autoencoders, and introduce…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Can latent actions and environment dynamics be recovered from offline trajectories when actions are never observed? We study this question in a setting where trajectories are action-free but tagged with demonstrator identity. We assume that…