相关论文: Scaling Imitation Learning in Minecraft

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…

Despite the growing variety of languages supported by existing multilingual neural machine translation (MNMT) models, most of the world's languages are still being left behind. We aim to extend large-scale MNMT models to incorporate a new…

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Deep neural networks have become a primary tool for solving problems in many fields. They are also used for addressing information retrieval problems and show strong performance in several tasks. Training these models requires large,…

Model-based reinforcement learning (MBRL) aims to learn a dynamic model to reduce the number of interactions with real-world environments. However, due to estimation error, rollouts in the learned model, especially those of long horizons,…

imitation provides open-source implementations of imitation and reward learning algorithms in PyTorch. We include three inverse reinforcement learning (IRL) algorithms, three imitation learning algorithms and a preference comparison…

Training deep reinforcement learning agents complex behaviors in 3D virtual environments requires significant computational resources. This is especially true in environments with high degrees of aliasing, where many states share nearly…

Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limited flexibility. To mitigate this, we propose…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Although deep neural networks are capable of achieving performance superior to humans on various tasks, they are notorious for requiring large amounts of data and computing resources, restricting their success to domains where such…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Recent work has demonstrated that problems-- particularly imitation learning and structured prediction-- where a learner's predictions influence the input-distribution it is tested on can be naturally addressed by an interactive approach…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

Imitation learning benchmarks often lack sufficient variation between training and evaluation, limiting meaningful generalisation assessment. We introduce Labyrinth, a benchmarking environment designed to test generalisation with precise…

Deep models, e.g., CNNs and Vision Transformers, have achieved impressive achievements in many vision tasks in the closed world. However, novel classes emerge from time to time in our ever-changing world, requiring a learning system to…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

Imitation learning algorithms have been interpreted as variants of divergence minimization problems. The ability to compare occupancy measures between experts and learners is crucial in their effectiveness in learning from demonstrations.…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…