相关论文: Fighting Copycat Agents in Behavioral Cloning from…

This paper examines a novel type of multi-agent problem, in which an agent makes multiple identical copies of itself in order to achieve a single agent task better or more efficiently. This strategy improves performance if the environment…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…

Imitation learning is a proven method for creating a policy in the absence of rewards, by leveraging expert demonstrations. In this work, we apply imitation learning to conversation. In doing so, we recover a policy capable of talking to a…

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…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…

Behavioural cloning uses a dataset of demonstrations to learn a behavioural policy. To overcome various learning and policy adaptation problems, we propose to use latent space to index a demonstration dataset, instantly access similar…

We study how an autonomous agent learns to perform a task from demonstrations in a different domain, such as a different environment or different agent. Such cross-domain imitation learning is required to, for example, train an artificial…

Adversarial imitation learning has become a widely used imitation learning framework. The discriminator is often trained by taking expert demonstrations and policy trajectories as examples respectively from two categories (positive vs.…

Given a dataset of expert agent interactions with an environment of interest, a viable method to extract an effective agent policy is to estimate the maximum likelihood policy indicated by this data. This approach is commonly referred to as…

Modern language models can imitate complex patterns through few-shot learning, enabling them to complete challenging tasks without fine-tuning. However, imitation can also lead models to reproduce inaccuracies or harmful content if present…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…

Behavioral cloning (BC) can recover a good policy from abundant expert data, but may fail when expert data is insufficient. This paper considers a situation where, besides the small amount of expert data, a supplementary dataset is…

Continual learning aims to sequentially learn new tasks without forgetting previous tasks' knowledge (catastrophic forgetting). One factor that can cause forgetting is the interference between the gradients on losses from different tasks.…

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…

Consider learning an imitation policy on the basis of demonstrated behavior from multiple environments, with an eye towards deployment in an unseen environment. Since the observable features from each setting may be different, directly…

Behavioral cloning uses a dataset of demonstrations to learn a policy. To overcome computationally expensive training procedures and address the policy adaptation problem, we propose to use latent spaces of pre-trained foundation models to…

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…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…