相关论文: Hierarchical Variational Imitation Learning of Con…

We study how to effectively leverage expert feedback to learn sequential decision-making policies. We focus on problems with sparse rewards and long time horizons, which typically pose significant challenges in reinforcement learning. We…

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…

Fashion is a complex social phenomenon. People follow fashion styles from demonstrations by experts or fashion icons. However, for machine agent, learning to imitate fashion experts from demonstrations can be challenging, especially for…

In this paper, we describe a novel approach to imitation learning that infers latent policies directly from state observations. We introduce a method that characterizes the causal effects of latent actions on observations while…

Reinforcement learning algorithms struggle on tasks with complex hierarchical dependency structures. Humans and other intelligent agents do not waste time assessing the utility of every high-level action in existence, but instead only…

We apply recent advances in deep generative modeling to the task of imitation learning from biological agents. Specifically, we apply variations of the variational recurrent neural network model to a multi-agent setting where we learn…

Large language models (LLMs) struggle on processing complicated observations in interactive decision making tasks. To alleviate this issue, we propose a simple hierarchical prompting approach. Diverging from previous prompting approaches…

Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…

Recent advances in hierarchical robot systems leverage a high-level planner to propose task plans and a low-level policy to generate robot actions. This design allows training the planner on action-free or even non-robot data sources (e.g.,…

Distribution-free predictive inference beyond the construction of prediction sets has gained a lot of interest in recent applications. One such application is the selection task, where the objective is to design a reliable selection rule to…

One of the common ways children learn is by mimicking adults. Imitation learning focuses on learning policies with suitable performance from demonstrations generated by an expert, with an unspecified performance measure, and unobserved…

Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action chunking approaches struggle to achieve both. Building on…

Decentralized Multi-Agent Reinforcement Learning (MARL) methods allow for learning scalable multi-agent policies, but suffer from partial observability and induced non-stationarity. These challenges can be addressed by introducing…

The options framework for hierarchical reinforcement learning has increased its popularity in recent years and has made improvements in tackling the scalability problem in reinforcement learning. Yet, most of these recent successes are…

It has been a challenge to learning skills for an agent from long-horizon unannotated demonstrations. Existing approaches like Hierarchical Imitation Learning(HIL) are prone to compounding errors or suboptimal solutions. In this paper, we…

Hierarchical Reinforcement Learning (HRL) agents often struggle with long-horizon visual planning due to their reliance on error-prone distance metrics. We propose Discrete Hierarchical Planning (DHP), a method that replaces continuous…

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…

Large language model (LLM)-based agents have shown strong potential in multi-task scenarios, owing to their ability to transfer knowledge across diverse tasks. However, existing approaches often treat prior experiences and knowledge as…

Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstrations, experts are not always consistent and might…

Scenarios requiring humans to choose from multiple seemingly optimal actions are commonplace, however standard imitation learning often fails to capture this behavior. Instead, an over-reliance on replicating expert actions induces…