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

In classification applications, we often want probabilistic predictions to reflect confidence or uncertainty. Dropout, a commonly used training technique, has recently been linked to Bayesian inference, yielding an efficient way to quantify…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Deep learning systems are known to exhibit implicit regularization (alt. implicit bias), favoring simple solutions instead of merely minimizing the loss function. In some cases, we can analytically derive the implicit regularization --…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

A high-precision manipulation task, such as needle threading, is challenging. Physiological studies have proposed connecting low-resolution peripheral vision and fast movement to transport the hand into the vicinity of an object, and using…

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…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

In this work, we address the problem how a network for action recognition that has been trained on a modality like RGB videos can be adapted to recognize actions for another modality like sequences of 3D human poses. To this end, we extract…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

We propose a guided dropout regularizer for deep networks based on the evidence of a network prediction defined as the firing of neurons in specific paths. In this work, we utilize the evidence at each neuron to determine the probability of…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Autonomous driving systems have a pipeline of perception, decision, planning, and control. The decision module processes information from the perception module and directs the execution of downstream planning and control modules. On the…

Motivated by the efficiency and rapid convergence of pre-trained models for solving downstream tasks, this paper extensively studies the impact of Continual Learning (CL) models as pre-trainers. In both supervised and unsupervised CL, we…

This paper addresses imitation learning for motion prediction problem in autonomous driving, especially in multi-agent setting. Different from previous methods based on GAN, we present the conditional latent ordinary differential equation…

In recent years, neural networks have demonstrated an outstanding ability to achieve complex learning tasks across various domains. However, they suffer from the "catastrophic forgetting" problem when they face a sequence of learning tasks,…

Deep learning models frequently exploit spurious features in training data to achieve low training error, often resulting in poor generalization when faced with shifted testing distributions. To address this issue, various methods from…

Neural networks are easier to optimise when they have many more weights than are required for modelling the mapping from inputs to outputs. This suggests a two-stage learning procedure that first learns a large net and then prunes away…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…

Imitation learning enables high-fidelity, vision-based learning of policies within rich, photorealistic environments. However, such techniques often rely on traditional discrete-time neural models and face difficulties in generalizing to…