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

Estimating causal effects from observational data (at either an individual -- or a population -- level) is critical for making many types of decisions. One approach to address this task is to learn decomposed representations of the…

Standard reinforcement learning methods aim to master one way of solving a task whereas there may exist multiple near-optimal policies. Being able to identify this collection of near-optimal policies can allow a domain expert to efficiently…

This contribution comprises the interplay between a multi-modal variational autoencoder and an environment to a perceived environment, on which an agent can act. Furthermore, we conclude our work with a comparison to curiosity-driven…

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand.…

The prototypical approach to reinforcement learning involves training policies tailored to a particular agent from scratch for every new morphology. Recent work aims to eliminate the re-training of policies by investigating whether a…

We consider learning from labeled data collected across multiple environments, where the data distribution may vary across these environments. This problem is commonly approached from a causal perspective, seeking invariant representations…

Sensory data are often comprised of independent content and transformation factors. For example, face images may have shapes as content and poses as transformation. To infer separately these factors from given data, various…

Imitation learning has become a cornerstone for solving complex robotic manipulation tasks. In particular, multimodality, which enables robots to capture diverse yet valid behavioral patterns, has driven the rapid emergence of generative…

Advances in Deep Reinforcement Learning have led to agents that perform well across a variety of sensory-motor domains. In this work, we study the setting in which an agent must learn to generate programs for diverse scenes conditioned on a…

Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training…

Dynamical systems across many disciplines are modeled as interacting particles or agents, with interaction rules that depend on a very small number of variables (e.g. pairwise distances, pairwise differences of phases, etc...), functions of…

The world provides us with data of multiple modalities. Intuitively, models fusing data from different modalities outperform their uni-modal counterparts, since more information is aggregated. Recently, joining the success of deep learning,…

We would like to learn a representation of the data which decomposes an observation into factors of variation which we can independently control. Specifically, we want to use minimal supervision to learn a latent representation that…

Training machine learning models with the only accuracy as a final goal may promote prejudices and discriminatory behaviors embedded in the data. One solution is to learn latent representations that fulfill specific fairness metrics.…

Offline reinforcement learning (RL) seeks to learn optimal policies from static datasets without interacting with the environment. A common challenge is handling multi-modal action distributions, where multiple behaviours are represented in…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

From medical diagnosis to autonomous vehicles, critical applications rely on the integration of multiple heterogeneous data modalities. Multimodal Variational Autoencoders offer versatile and scalable methods for generating unobserved…

One of the common ways children learn is by mimicking adults. Imitation learning focuses on learning policies with suitable performance from demonstrations generated by an expert, with an unspecified performance measure, and unobserved…