相关论文: Learning from Suboptimal Demonstration via Self-Su…

Learning from Demonstrations (LfD) via Behavior Cloning (BC) works well on multiple complex tasks. However, a limitation of the typical LfD approach is that it requires expert demonstrations for all scenarios, including those in which the…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

In robotic systems, the performance of reinforcement learning depends on the rationality of predefined reward functions. However, manually designed reward functions often lead to policy failures due to inaccuracies. Inverse Reinforcement…

Some Learning from Demonstrations (LfD) methods handle small mismatches in the action spaces of the teacher and student. Here we address the case where the teacher's morphology is substantially different from that of the student. Our…

World models simulate dynamic environments, enabling agents to interact with diverse input modalities. Although recent advances have improved the visual quality and temporal consistency of video world models, their ability of accurately…

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 challenges of aligning large models with human preferences lies in both the data requirements and the technical complexities of current approaches. Predominant methods, such as RLHF, involve multiple steps, each demanding…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

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…

Learning reward functions from demonstrations assumes that demonstrations provide adequate supervision over all features -- or task-relevant aspects of behavior. In practice, demonstrations are often imperfect: humans may under-emphasize…

As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…

Inverse Reinforcement Learning (IRL) is a powerful set of techniques for imitation learning that aims to learn a reward function that rationalizes expert demonstrations. Unfortunately, traditional IRL methods suffer from a computational…

Training robots with physical bodies requires developing new methods and action representations that allow the learning agents to explore the space of policies efficiently. This work studies sample-efficient learning of complex policies in…

Inferring the intent of an intelligent agent from demonstrations and subsequently predicting its behavior, is a critical task in many collaborative settings. A common approach to solve this problem is the framework of inverse reinforcement…

The optimal objective is a fundamental aspect of reinforcement learning (RL), as it determines how policies are evaluated and optimized. While total return maximization is the ideal objective in RL, discounted return maximization is the…

Effective exploration continues to be a significant challenge that prevents the deployment of reinforcement learning for many physical systems. This is particularly true for systems with continuous and high-dimensional state and action…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

When demonstrating a task, human tutors pedagogically modify their behavior by either "showing" the task rather than just "doing" it (exaggerating on relevant parts of the demonstration) or by giving demonstrations that best disambiguate…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling diverse end-users to teach robots to perform a task by providing demonstrations. However, most LfD techniques assume users provide optimal demonstrations. This is…

Learning from demonstrations (LfD) enables humans to easily teach collaborative robots (cobots) new motions that can be generalized to new task configurations without retraining. However, state-of-the-art LfD methods require manually tuning…