相关论文: Multi-Instance Aware Localization for End-to-End I…

We tackle the problem of policy learning from expert demonstrations without a reward function. A central challenge in this space is that these policies fail upon deployment due to issues of distributional shift, environment stochasticity,…

End-to-end learning has become a widely applicable and studied problem in training predictive ML models to be aware of their impact on downstream decision-making tasks. These end-to-end models often outperform traditional methods that…

Providing expert trajectories in the context of Imitation Learning is often expensive and time-consuming. The goal must therefore be to create algorithms which require as little expert data as possible. In this paper we present an algorithm…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

Recent advances in incorporating neural networks into particle filters provide the desired flexibility to apply particle filters in large-scale real-world applications. The dynamic and measurement models in this framework are learnable…

Matching images and sentences demands a fine understanding of both modalities. In this paper, we propose a new system to discriminatively embed the image and text to a shared visual-textual space. In this field, most existing works apply…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

Current imitation learning techniques are too restrictive because they require the agent and expert to share the same action space. However, oftentimes agents that act differently from the expert can solve the task just as good. For…

Despite the increasing research interest in end-to-end learning systems for speech emotion recognition, conventional systems either suffer from the overfitting due in part to the limited training data, or do not explicitly consider the…

Many existing imitation learning datasets are collected from multiple demonstrators, each with different expertise at different parts of the environment. Yet, standard imitation learning algorithms typically treat all demonstrators as…

End-to-end learning has taken hold of many computer vision tasks, in particular, related to still images, with task-specific optimization yielding very strong performance. Nevertheless, human-centric action recognition is still largely…

Prototypical network for Few shot learning tries to learn an embedding function in the encoder that embeds images with similar features close to one another in the embedding space. However, in this process, the support set samples for a…

We study the problem of imitating an expert demonstrator in a discrete-time, continuous state-and-action control system. We show that, even if the dynamics satisfy a control-theoretic property called exponential stability (i.e. the effects…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

In imitation learning, an agent learns how to behave in an environment with an unknown cost function by mimicking expert demonstrations. Existing imitation learning algorithms typically involve solving a sequence of planning or…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

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…

Learning with limited data is a key challenge for visual recognition. Many few-shot learning methods address this challenge by learning an instance embedding function from seen classes and apply the function to instances from unseen classes…