相关论文: State Alignment-based Imitation Learning

Complex systems in science and engineering sometimes exhibit behavior that changes across different regimes. Traditional global models struggle to capture the full range of this complex behavior, limiting their ability to accurately…

We seek to align agent policy with human expert behavior in a reinforcement learning (RL) setting, without any prior knowledge about dynamics, reward function, and unsafe states. There is a human expert knowing the rewards and unsafe states…

The task of state estimation in active distribution systems faces a major challenge due to the integration of different measurements with multiple reporting rates. As a result, distribution systems are essentially unobservable in real time,…

The growing use of virtual autonomous agents in applications like games and entertainment demands better control policies for natural-looking movements and actions. Unlike the conventional approach of hard-coding motion routines, we propose…

The aim of multi-task reinforcement learning is two-fold: (1) efficiently learn by training against multiple tasks and (2) quickly adapt, using limited samples, to a variety of new tasks. In this work, the tasks correspond to reward…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

We consider a Reinforcement Learning setup where an agent interacts with an environment in observation-reward-action cycles without any (esp.\ MDP) assumptions on the environment. State aggregation and more generally feature reinforcement…

We propose a new framework for imitation learning -- treating imitation as a two-player ranking-based game between a policy and a reward. In this game, the reward agent learns to satisfy pairwise performance rankings between behaviors,…

State representation learning aims at learning compact representations from raw observations in robotics and control applications. Approaches used for this objective are auto-encoders, learning forward models, inverse dynamics or learning…

Representation learning methods are an important tool for addressing the challenges posed by complex observations spaces in sequential decision making problems. Recently, many methods have used a wide variety of types of approaches for…

Representation learning becomes especially important for complex systems with multimodal data sources such as cameras or sensors. Recent advances in reinforcement learning and optimal control make it possible to design control algorithms on…

A model among many may only be best under certain states of the world. Switching from a model to another can also be costly. Finding a procedure to dynamically choose a model in these circumstances requires to solve a complex estimation…

End-to-end reinforcement learning agents learn a state representation and a policy at the same time. Recurrent neural networks (RNNs) have been trained successfully as reinforcement learning agents in settings like dialogue that require…

We present an interactive version of an evidence-driven state-merging (EDSM) algorithm for learning variants of finite state automata. Learning these automata often amounts to recovering or reverse engineering the model generating the data…

We consider a broad class of stochastic imitation dynamics over networks, encompassing several well known learning models such as the replicator dynamics. In the considered models, players have no global information about the game…

Imitation learning is a proven method for creating a policy in the absence of rewards, by leveraging expert demonstrations. In this work, we apply imitation learning to conversation. In doing so, we recover a policy capable of talking to a…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Scaling end-to-end reinforcement learning to control real robots from vision presents a series of challenges, in particular in terms of sample efficiency. Against end-to-end learning, state representation learning can help learn a compact,…

Imitation learning (IL) enables agents to acquire skills directly from expert demonstrations, providing a compelling alternative to reinforcement learning. However, prior online IL approaches struggle with complex tasks characterized by…

Assembly state recognition facilitates the execution of assembly procedures, offering feedback to enhance efficiency and minimize errors. However, recognizing assembly states poses challenges in scalability, since parts are frequently…