相关论文: Learning from Interventions using Hierarchical Pol…

This article introduces an imitation learning method for learning maximum entropy policies that comply with constraints demonstrated by expert trajectories executing a task. The formulation of the method takes advantage of results…

Regardless of the particular task we want them to perform in an environment, there are often shared safety constraints we want our agents to respect. For example, regardless of whether it is making a sandwich or clearing the table, a…

Learning from Demonstration (LfD) is a widely used technique for skill acquisition in robotics. However, demonstrations of the same skill may exhibit significant variances, or learning systems may attempt to acquire different means of the…

The exploration problem is one of the main challenges in deep reinforcement learning (RL). Recent promising works tried to handle the problem with population-based methods, which collect samples with diverse behaviors derived from a…

Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…

Learning from demonstration (LfD) is useful in settings where hand-coding behaviour or a reward function is impractical. It has succeeded in a wide range of problems but typically relies on manually generated demonstrations or specially…

Demonstration is an appealing way for humans to provide assistance to reinforcement-learning agents. Most approaches in this area view demonstrations primarily as sources of behavioral bias. But in sparse-reward tasks, humans seem to treat…

The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…

Scenarios in which restrictions in data transfer and storage limit the possibility to compose a single dataset -- also exploiting different data sources -- to perform a batch-based training procedure, make the development of robust models…

A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO),…

In the field of explainable Artificial Intelligence (XAI), sequential counterfactual (SCF) examples are often used to alter the decision of a trained classifier by implementing a sequence of modifications to the input instance. Although…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

Existing learning from demonstration algorithms usually assume access to expert demonstrations. However, this assumption is limiting in many real-world applications since the collected demonstrations may be suboptimal or even consist of…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

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 a federated learning (FL) system, malicious participants can easily embed backdoors into the aggregated model while maintaining the model's performance on the main task. To this end, various defenses, including training stage…

Behavior cloning (BC) optimizes policies by treating human demonstrations as pointwise action labels. While effective with accurate action labels, this formulation is brittle in practice: when human-provided actions are imperfect, treating…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…