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

Generative models for multimodal data permit the identification of latent factors that may be associated with important determinants of observed data heterogeneity. Common or shared factors could be important for explaining variation across…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

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…

Self-interested individuals often fail to cooperate, posing a fundamental challenge for multi-agent learning. How can we achieve cooperation among self-interested, independent learning agents? Promising recent work has shown that in certain…

Human behavior in interactive settings is shaped not only by individual objectives but also by shared constraints with others, such as safety. Understanding how people allocate responsibility, i.e., how much one deviates from their desired…

We apply recent advances in deep generative modeling to the task of imitation learning from biological agents. Specifically, we apply variations of the variational recurrent neural network model to a multi-agent setting where we learn…

Generative models that learn disentangled representations for different factors of variation in an image can be very useful for targeted data augmentation. By sampling from the disentangled latent subspace of interest, we can efficiently…

We present a framework for learning disentangled and interpretable jointly continuous and discrete representations in an unsupervised manner. By augmenting the continuous latent distribution of variational autoencoders with a relaxed…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…

We address the problem of fine-tuning pre-trained generative policies with reinforcement learning (RL) while preserving the multimodality of their action distributions. Existing methods for RL fine-tuning of generative policies (e.g.,…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

Extracting a stable and compact representation of the environment is crucial for efficient reinforcement learning in high-dimensional, noisy, and non-stationary environments. Different categories of information coexist in such environments…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

This paper studies the performative policy learning problem, where agents adjust their features in response to a released policy to improve their potential outcomes, inducing an endogenous distribution shift. There has been growing interest…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

While large-scale sequence modeling from offline data has led to impressive performance gains in natural language and image generation, directly translating such ideas to robotics has been challenging. One critical reason for this is that…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

In this work we are the first to present an offline policy gradient method for learning imitative policies for complex urban driving from a large corpus of real-world demonstrations. This is achieved by building a differentiable data-driven…

We study offline imitation learning (IL) in cooperative multi-agent settings, where demonstrations have unlabeled mixed quality - containing both expert and suboptimal trajectories. Our proposed solution is structured in two stages:…