相关论文: The MAGICAL Benchmark for Robust Imitation

Imitation learning (IL) with human demonstrations is a promising method for robotic manipulation tasks. While minimal demonstrations enable robotic action execution, achieving high success rates and generalization requires high cost, e.g.,…

Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and…

In order for agents trained by deep reinforcement learning to work alongside humans in realistic settings, we will need to ensure that the agents are \emph{robust}. Since the real world is very diverse, and human behavior often changes in…

Reliably ensuring Large Language Models (LLMs) follow complex instructions is a critical challenge, as existing benchmarks often fail to reflect real-world use or isolate compliance from task success. We introduce MOSAIC (MOdular Synthetic…

Recent work shows that in-context learning and optimization of in-context examples (ICE) can significantly improve the accuracy of large language models (LLMs) on a wide range of tasks, leading to an apparent consensus that ICE optimization…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Generative adversarial imitation learning (GAIL) is a popular inverse reinforcement learning approach for jointly optimizing policy and reward from expert trajectories. A primary question about GAIL is whether applying a certain policy…

Lack of reliability is a well-known issue for reinforcement learning (RL) algorithms. This problem has gained increasing attention in recent years, and efforts to improve it have grown substantially. To aid RL researchers and production…

Just like the previous generation of task-tuned models, large language models (LLMs) that are adapted to tasks via prompt-based methods like in-context-learning (ICL) perform well in some setups but not in others. This lack of consistency…

Inverse Reinforcement Learning (IRL) -- the problem of learning reward functions from demonstrations of an \emph{expert policy} -- plays a critical role in developing intelligent systems. While widely used in applications, theoretical…

Large Language Models (LLMs) have recently gained the In-Context Learning (ICL) ability with the models scaling up, allowing them to quickly adapt to downstream tasks with only a few demonstration examples prepended in the input sequence.…

A significant challenge for the practical application of reinforcement learning in the real world is the need to specify an oracle reward function that correctly defines a task. Inverse reinforcement learning (IRL) seeks to avoid this…

Imitation learning is a central problem in reinforcement learning where the goal is to learn a policy that mimics the expert's behavior. In practice, it is often challenging to learn the expert policy from a limited number of demonstrations…

Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often…

Offline imitation learning (IL) is a powerful method to solve decision-making problems from expert demonstrations without reward labels. Existing offline IL methods suffer from severe performance degeneration under limited expert data.…

The robotics research field lacks formalized definitions and frameworks for evaluating advanced capabilities including generalizability (the ability for robots to perform tasks under varied contexts) and reproducibility (the performance of…

Despite the numerous breakthroughs achieved with Reinforcement Learning (RL), solving environments with sparse rewards remains a challenging task that requires sophisticated exploration. Learning from Demonstrations (LfD) remedies this…

Practical Imitation Learning (IL) systems rely on large human demonstration datasets for successful policy learning. However, challenges lie in maintaining the quality of collected data and addressing the suboptimal nature of some…

Imitation Learning (IL) enables agents to mimic expert behavior by learning from demonstrations. However, traditional IL methods require large amounts of medium-to-high-quality demonstrations as well as actions of expert demonstrations,…

In online Inverse Reinforcement Learning (IRL), the learner can collect samples about the dynamics of the environment to improve its estimate of the reward function. Since IRL suffers from identifiability issues, many theoretical works on…