相关论文: On-Policy Robot Imitation Learning from a Convergi…

Recent research on vulnerabilities of deep reinforcement learning (RL) has shown that adversarial policies adopted by an adversary agent can influence a target RL agent (victim agent) to perform poorly in a multi-agent environment. In…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations with more robustness to error compounding than behavioral…

In this paper, we present a deep reinforcement learning (RL) framework for iterative dialog policy optimization in end-to-end task-oriented dialog systems. Popular approaches in learning dialog policy with RL include letting a dialog agent…

Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…

The success of automated driving deployment is highly depending on the ability to develop an efficient and safe driving policy. The problem is well formulated under the framework of optimal control as a cost optimization problem. Model…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

This paper investigates a class of attacks targeting the confidentiality aspect of security in Deep Reinforcement Learning (DRL) policies. Recent research have established the vulnerability of supervised machine learning models (e.g.,…

In complex environments with high dimension, training a reinforcement learning (RL) model from scratch often suffers from lengthy and tedious collection of agent-environment interactions. Instead, leveraging expert demonstration to guide RL…

We present a training pipeline for the autonomous driving task given the current camera image and vehicle speed as the input to produce the throttle, brake, and steering control output. The simulator Airsim's convenient weather and lighting…

Reinforcement learning (RL) is a goal-oriented learning solution that has proven to be successful for Neural Architecture Search (NAS) on the CIFAR and ImageNet datasets. However, a limitation of this approach is its high computational…

We study the problem of programmatic reinforcement learning, in which policies are represented as short programs in a symbolic language. Programmatic policies can be more interpretable, generalizable, and amenable to formal verification…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

Training a deep neural network to maximize a target objective has become the standard recipe for successful machine learning over the last decade. These networks can be optimized with supervised learning, if the target objective is…

Reinforcement learning offers the promise of automating the acquisition of complex behavioral skills. However, compared to commonly used and well-understood supervised learning methods, reinforcement learning algorithms can be brittle,…

In recent years, on-policy reinforcement learning (RL) has been successfully applied to many different continuous control tasks. While RL algorithms are often conceptually simple, their state-of-the-art implementations take numerous low-…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

Recently, empowered with the powerful capabilities of neural networks, reinforcement learning (RL) has successfully tackled numerous challenging tasks. However, while these models demonstrate enhanced decision-making abilities, they are…

Motivated by recent advances in Deep Learning for robot control, this paper considers two learning algorithms in terms of how they acquire demonstrations. "Human-Centric" (HC) sampling is the standard supervised learning algorithm, where a…

Reinforcement learning has shown promise in learning policies that can solve complex problems. However, manually specifying a good reward function can be difficult, especially for intricate tasks. Inverse reinforcement learning offers a…