相关论文: Task-Relevant Adversarial Imitation Learning

Often, labeling large amount of data is challenging due to high labeling cost limiting the application domain of deep learning techniques. Active learning (AL) tackles this by querying the most informative samples to be annotated among…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

A significant challenge for the practical application of reinforcement learning in the real world is the need to specify an oracle reward function that correctly defines a task. Inverse reinforcement learning (IRL) seeks to avoid this…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

We present an adversarial active exploration for inverse dynamics model learning, a simple yet effective learning scheme that incentivizes exploration in an environment without any human intervention. Our framework consists of a deep…

Recent work has proposed several efficient approaches for generating gradient-based adversarial perturbations on embeddings and proved that the model's performance and robustness can be improved when they are trained with these contaminated…

Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…

Episodic tasks in Reinforcement Learning (RL) often pose challenges due to sparse reward signals and high-dimensional state spaces, which hinder efficient learning. Additionally, these tasks often feature hidden "trap states" --…

Recently, an abundant amount of urban vehicle trajectory data has been collected in road networks. Many studies have used machine learning algorithms to analyze patterns in vehicle trajectories to predict location sequences of individual…

This paper presents a novel satellite attitude control framework that integrates Soft Actor-Critic (SAC) reinforcement learning with Generative Adversarial Imitation Learning (GAIL) to achieve robust performance under various unknown…

Though impressive results have been achieved in visual captioning, the task of generating abstract stories from photo streams is still a little-tapped problem. Different from captions, stories have more expressive language styles and…

Class incremental learning (CIL) is a challenging setting of continual learning, which learns a series of tasks sequentially. Each task consists of a set of unique classes. The key feature of CIL is that no task identifier (or task-id) is…

Class-Incremental Learning (CIL) aims to continuously acquire new categories while preserving previously learned knowledge. Recently, Contrastive Language-Image Pre-trained (CLIP) models have shown strong potential for CIL due to their…

Adversarial Imitation Learning (AIL) is a dominant framework in imitation learning that infers rewards from expert demonstrations to guide policy optimization. Although providing more expert demonstrations typically leads to improved…

Training a policy in a source domain for deployment in the target domain under a dynamics shift can be challenging, often resulting in performance degradation. Previous work tackles this challenge by training on the source domain with…

Continual learning (CL) with Vision-Language Models (VLMs) has overcome the constraints of traditional CL, which only focuses on previously encountered classes. During the CL of VLMs, we need not only to prevent the catastrophic forgetting…

Imitation learning learns a policy from demonstrations without requiring hand-designed reward functions. In many robotic tasks, such as autonomous racing, imitated policies must model complex environment dynamics and human decision-making.…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

Deep neural networks obtain state-of-the-art performance on a series of tasks. However, they are easily fooled by adding a small adversarial perturbation to input. The perturbation is often human imperceptible on image data. We observe a…

Providing a suitable reward function to reinforcement learning can be difficult in many real world applications. While inverse reinforcement learning (IRL) holds promise for automatically learning reward functions from demonstrations,…