相关论文: Gaze Training by Modulated Dropout Improves Imitat…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

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…

We propose a theoretical framework for studying behavior cloning of complex expert demonstrations using generative modeling. Our framework invokes low-level controllers - either learned or implicit in position-command control - to stabilize…

Previous research on scanpath prediction has mainly focused on group models, disregarding the fact that the scanpaths and attentional behaviors of individuals are diverse. The disregard of these differences is especially detrimental to…

While imitation learning is becoming common practice in robotics, this approach often suffers from data mismatch and compounding errors. DAgger is an iterative algorithm that addresses these issues by continually aggregating training data…

With the growing attention on learning-to-learn new tasks using only a few examples, meta-learning has been widely used in numerous problems such as few-shot classification, reinforcement learning, and domain generalization. However,…

Decomposing knowledge into interchangeable pieces promises a generalization advantage when there are changes in distribution. A learning agent interacting with its environment is likely to be faced with situations requiring novel…

Pre-trained vision-language models are able to interpret visual concepts and language semantics. Prompt learning, a method of constructing prompts for text encoders or image encoders, elicits the potentials of pre-trained models and readily…

Deep neural networks are typically trained by uniformly sampling large datasets across epochs, despite evidence that not all samples contribute equally throughout learning. Recent work shows that progressively reducing the amount of…

Behavioral cloning is a simple yet effective technique for learning sequential decision-making from demonstrations. Recently, it has gained prominence as the core of foundation models for the physical world, where achieving generalization…

3D object detection is critical for autonomous driving, leveraging deep learning techniques to interpret LiDAR data. The PointPillars architecture is a prominent model in this field, distinguished by its efficient use of LiDAR data. This…

Accurate prediction of drivers' gaze is an important component of vision-based driver monitoring and assistive systems. Of particular interest are safety-critical episodes, such as performing maneuvers or crossing intersections. In such…

Despite dropout's ubiquity in machine learning, its effectiveness as a form of data augmentation remains under-explored. We address two key questions: (i) When is dropout effective as an augmentation strategy? (ii) Is dropout uniquely…

Soft prompt learning methods are effective for adapting vision-language models (VLMs) to downstream tasks. Nevertheless, empirical evidence reveals a tendency of existing methods that they overfit seen classes and exhibit degraded…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Demonstration learning aims to guide the prompt prediction via providing answered demonstrations in the few shot settings. Despite achieving promising results, existing work only concatenates the answered examples as demonstrations to the…

While imitation learning methods have seen a resurgent interest for robotic manipulation, the well-known problem of compounding errors continues to afflict behavioral cloning (BC). Waypoints can help address this problem by reducing the…

Neural networks are often over-parameterized and hence benefit from aggressive regularization. Conventional regularization methods, such as Dropout or weight decay, do not leverage the structures of the network's inputs and hidden states.…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

So-called implicit behavioral cloning with energy-based models has shown promising results in robotic manipulation tasks. We tested if the method's advantages carry on to controlling the steering of a real self-driving car with an…