相关论文: Domain Adaptive Imitation Learning

Despite massive empirical evaluations, one of the fundamental questions in imitation learning is still not fully settled: does AIL (adversarial imitation learning) provably generalize better than BC (behavioral cloning)? We study this open…

Autonomous driving has attracted great attention from both academics and industries. To realise autonomous driving, Deep Imitation Learning (DIL) is treated as one of the most promising solutions, because it improves autonomous driving…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Recent works on domain adaptation reveal the effectiveness of adversarial learning on filling the discrepancy between source and target domains. However, two common limitations exist in current adversarial-learning-based methods. First,…

Reliable prediction of train delays is essential for enhancing the robustness and efficiency of railway transportation systems. In this work, we reframe delay forecasting as a stochastic simulation task, modeling state-transition dynamics…

We examine the problem of transferring a policy learned in a source environment to a target environment with different dynamics, particularly in the case where it is critical to reduce the amount of interaction with the target environment…

Unsupervised domain adaptation is a promising way to generalize deep models to novel domains. However, the current literature assumes that the label distribution is domain-invariant and only aligns the feature distributions or vice versa.…

Most existing studies on unsupervised domain adaptation (UDA) assume that each domain's training samples come with domain labels (e.g., painting, photo). Samples from each domain are assumed to follow the same distribution and the domain…

As machine learning evolves, domain generalization (DG) and domain adaptation (DA) have become crucial for enhancing model robustness across diverse environments. Contrastive Language-Image Pretraining (CLIP) plays a significant role in…

We study how an autonomous agent learns to perform a task from demonstrations in a different domain, such as a different environment or different agent. Such cross-domain imitation learning is required to, for example, train an artificial…

An open problem in autonomous vehicle safety validation is building reliable models of human driving behavior in simulation. This work presents an approach to learn neural driving policies from real world driving demonstration data. We…

Domain Adaptation is an actively researched problem in Computer Vision. In this work, we propose an approach that leverages unsupervised data to bring the source and target distributions closer in a learned joint feature space. We…

Domain Adaptation (DA) of Neural Machine Translation (NMT) model often relies on a pre-trained general NMT model which is adapted to the new domain on a sample of in-domain parallel data. Without parallel data, there is no way to estimate…

Recent deep learning methods for object detection rely on a large amount of bounding box annotations. Collecting these annotations is laborious and costly, yet supervised models do not generalize well when testing on images from a different…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

Multi-modal deep metric learning is crucial for effectively capturing diverse representations in tasks such as face verification, fine-grained object recognition, and product search. Traditional approaches to metric learning, whether based…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

In this chapter, we present CORrelation ALignment (CORAL), a simple yet effective method for unsupervised domain adaptation. CORAL minimizes domain shift by aligning the second-order statistics of source and target distributions, without…

Many modern methods for imitation learning and inverse reinforcement learning, such as GAIL or AIRL, are based on an adversarial formulation. These methods apply GANs to match the expert's distribution over states and actions with the…