相关论文: Generalized Inverse Planning: Learning Lifted non-…

Generalizing skill policies to novel conditions remains a key challenge in robot learning. Imitation learning methods, while data-efficient, are largely confined to the training region and consistently fail on input data outside it, leading…

In many settings (e.g., robotics) demonstrations provide a natural way to specify tasks; however, most methods for learning from demonstrations either do not provide guarantees that the artifacts learned for the tasks, such as rewards or…

Learning policies that generalize across multiple tasks is an important and challenging research topic in reinforcement learning and robotics. Training individual policies for every single potential task is often impractical, especially for…

Inverse Reinforcement Learning (IRL) algorithms infer a reward function that explains demonstrations provided by an expert acting in the environment. Maximum Causal Entropy (MCE) IRL is currently the most popular formulation of IRL, with…

Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…

This paper presents a method for learning logical task specifications and cost functions from demonstrations. Constructing specifications by hand is challenging for complex objectives and constraints in autonomous systems. Instead, we…

Markov reward processes (MRPs) are used to model stochastic phenomena arising in operations research, control engineering, robotics, and artificial intelligence, as well as communication and transportation networks. In many of these cases,…

In-Context Learning (ICL) is an emergent capability of Large Language Models (LLMs). Only a few demonstrations enable LLMs to be used as blackbox for new tasks. Previous studies have shown that using LLMs' outputs as labels is effective in…

This work presents a multiscale framework to solve an inverse reinforcement learning (IRL) problem for continuous-time/state stochastic systems. We take advantage of a diffusion wavelet representation of the associated Markov chain to…

Social goods, such as healthcare, smart city, and information networks, often produce ordered event data in continuous time. The generative processes of these event data can be very complex, requiring flexible models to capture their…

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…

Understanding how agents learn to generalize -- and, in particular, to extrapolate -- in high-dimensional, naturalistic environments remains a challenge for both machine learning and the study of biological agents. One approach to this has…

One unresolved issue is how to scale model-based inverse reinforcement learning (IRL) to actual robotic manipulation tasks with unpredictable dynamics. The ability to learn from both visual and proprioceptive examples, creating algorithms…

Behavior and motion planning play an important role in automated driving. Traditionally, behavior planners instruct local motion planners with predefined behaviors. Due to the high scene complexity in urban environments, unpredictable…

Inverse reinforcement learning (IRL) seeks to learn the reward function from expert trajectories, to understand the task for imitation or collaboration thereby removing the need for manual reward engineering. However, IRL in the context of…

Two common approaches to sequential decision-making are AI planning (AIP) and reinforcement learning (RL). Each has strengths and weaknesses. AIP is interpretable, easy to integrate with symbolic knowledge, and often efficient, but requires…

We aim to solve the problem of temporal-constraint learning from demonstrations to reproduce demonstration-like logic-constrained behaviors. Learning logic constraints is challenging due to the combinatorially large space of possible…

This paper investigates the cost function learning in social information networks, wherein the influence of humans' memory on information consumption is explicitly taken into account. We first propose a model for social…

Inverse reinforcement learning (IRL) has become a useful tool for learning behavioral models from demonstration data. However, IRL remains mostly unexplored for multi-agent systems. In this paper, we show how the principle of IRL can be…

A wide range of graph learning tasks, such as structure discovery, temporal graph analysis, and combinatorial optimization, focus on inferring graph structures from data, rather than making predictions on given graphs. However, the…