相关论文: Imitation Learning from Video by Leveraging Propri…

To learn from data collected in diverse dynamics, Imitation from Observation (IfO) methods leverage expert state trajectories based on the premise that recovering expert state distributions in other dynamics facilitates policy learning in…

Large behaviour models have transformed the field of robotic manipulation, but prohibitive data requirements have thus far prevented a revolution similar to vision language models. We believe that instrumentation, i.e. sensor integration in…

Human learning and intelligence work differently from the supervised pattern recognition approach adopted in most deep learning architectures. Humans seem to learn rich representations by exploration and imitation, build causal models of…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…

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…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

The current dominant paradigm for imitation learning relies on strong supervision of expert actions to learn both 'what' and 'how' to imitate. We pursue an alternative paradigm wherein an agent first explores the world without any expert…

Machine language acquisition is often presented as a problem of imitation learning: there exists a community of language users from which a learner observes speech acts and attempts to decode the mappings between utterances and situations.…

Self-supervised feature learning enables perception systems to benefit from the vast raw data recorded by vehicle fleets worldwide. While video-level self-supervised learning approaches have shown strong generalizability on classification…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Imitation learning has shown success in many tasks by learning from expert demonstrations. However, most existing work relies on large-scale demonstrations from technical professionals and close monitoring of the training process. These are…

Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

Learning by observation can be of key importance whenever agents sharing similar features want to learn from each other. This paper presents an agent architecture that enables software agents to learn by direct observation of the actions…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Imitation learning has been applied to mimic the operation of a human cameraman in several autonomous cinematography systems. To imitate different filming styles, existing methods train multiple models, where each model handles a particular…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…

Performing simple household tasks based on language directives is very natural to humans, yet it remains an open challenge for AI agents. The 'interactive instruction following' task attempts to make progress towards building agents that…