相关论文: Bayesian Experience Reuse for Learning from Multip…

Deep reinforcement learning (DRL) provides a new way to generate robot control policy. However, the process of training control policy requires lengthy exploration, resulting in a low sample efficiency of reinforcement learning (RL) in…

Learning from Demonstration (LfD) algorithms enable humans to teach new skills to robots through demonstrations. The learned skills can be robustly reproduced from the identical or near boundary conditions (e.g., initial point). However,…

We consider the inverse reinforcement learning problem, that is, the problem of learning from, and then predicting or mimicking a controller based on state/action data. We propose a statistical model for such data, derived from the…

Bayesian inference allows machine learning models to express uncertainty. Current machine learning models use only a single learnable parameter combination when making predictions, and as a result are highly overconfident when their…

Learning from demonstrations has gained increasing interest in the recent past, enabling an agent to learn how to make decisions by observing an experienced teacher. While many approaches have been proposed to solve this problem, there is…

Learning from demonstration (LfD) is commonly considered to be a natural and intuitive way to allow novice users to teach motor skills to robots. However, it is important to acknowledge that the effectiveness of LfD is heavily dependent on…

Our work aims at efficiently leveraging ambiguous demonstrations for the training of a reinforcement learning (RL) agent. An ambiguous demonstration can usually be interpreted in multiple ways, which severely hinders the RL-Agent from…

With the fast improvement of machine learning, reinforcement learning (RL) has been used to automate human tasks in different areas. However, training such agents is difficult and restricted to expert users. Moreover, it is mostly limited…

One of the main challenges in real-world reinforcement learning is to learn successfully from limited training samples. We show that in certain settings, the available data can be dramatically increased through a form of multi-task…

The development of human-robot systems able to leverage the strengths of both humans and their robotic counterparts has been greatly sought after because of the foreseen, broad-ranging impact across industry and research. We believe the…

This paper investigates how a Bayesian reinforcement learning method can be used to create a tactical decision-making agent for autonomous driving in an intersection scenario, where the agent can estimate the confidence of its recommended…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

Machines, not humans, are the world's dominant knowledge accumulators but humans remain the dominant decision makers. Interpreting and disseminating the knowledge accumulated by machines requires expertise, time, and is prone to failure.…

The Two-Stage Learning-to-Defer (L2D) framework has been extensively studied for classification and, more recently, regression tasks. However, many real-world applications require solving both tasks jointly in a multi-task setting. We…

Experimental design is central to science and engineering. A ubiquitous challenge is how to maximize the value of information obtained from expensive or constrained experimental settings. Bayesian optimal experimental design (OED) provides…

We study pool-based active learning with abstention feedbacks where a labeler can abstain from labeling a queried example with some unknown abstention rate. This is an important problem with many useful applications. We take a Bayesian…

Scientific experiments are usually expensive due to complex experimental preparation and processing. Experimental design is therefore involved with the task of finding the optimal experimental input that results in the desirable output by…

In this paper, we aim to design and analyze distributed Bayesian estimation algorithms for sensor networks. The challenges we address are to (i) derive a distributed provably-correct algorithm in the functional space of probability…

Accuracy and generalization capabilities are key objectives when learning dynamical system models. To obtain such models from limited data, current works exploit prior knowledge and assumptions about the system. However, the fusion of…

Reinforcement learning (RL) is well known for requiring large amounts of data in order for RL agents to learn to perform complex tasks. Recent progress in model-based RL allows agents to be much more data-efficient, as it enables them to…