相关论文: Multi-task Learning with Attention for End-to-end …

Multi-task ``vision-language-action'' (VLA) models have recently demonstrated increasing promise as generalist foundation models for robotics, achieving non-trivial performance out of the box on new tasks in new environments. However, for…

Deep neural networks can be powerful tools, but require careful application-specific design to ensure that the most informative relationships in the data are learnable. In this paper, we apply deep neural networks to the nonlinear…

Large Language Models (LLMs) possess remarkable generalization capabilities but struggle with multi-task adaptation, particularly in balancing knowledge retention with task-specific specialization. Conventional fine-tuning methods suffer…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during execution. We investigate the effectiveness of the Continuity-based…

In few-shot imitation learning (FSIL), using behavioral cloning (BC) to solve unseen tasks with few expert demonstrations becomes a popular research direction. The following capabilities are essential in robotics applications: (1) Behaving…

Adversarial methods for imitation learning have been shown to perform well on various control tasks. However, they require a large number of environment interactions for convergence. In this paper, we propose an end-to-end differentiable…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

Multi-task learning is to improve the performance of the model by transferring and exploiting common knowledge among tasks. Existing MTL works mainly focus on the scenario where label sets among multiple tasks (MTs) are usually the same,…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

Road traffic accidents remain a significant global concern, with the majority attributed to human factors such as driver distraction and fatigue. This study proposes a camera-based approach to derive useful indicators to assess driver…

Existing architectures for imitation learning using image-to-action policy networks perform poorly when presented with an input image containing multiple instances of the object of interest, especially when the number of expert…

Multi-modal learning has emerged as a key technique for improving performance across domains such as autonomous driving, robotics, and reasoning. However, in certain scenarios, particularly in resource-constrained environments, some…

In this paper we present a complete study of an end-to-end imitation learning system for speed control of a real car, based on a neural network with a Long Short Term Memory (LSTM). To achieve robustness and generalization from expert…

Continual learning is essential for all real-world applications, as frozen pre-trained models cannot effectively deal with non-stationary data distributions. The purpose of this study is to review the state-of-the-art methods that allow…

Traffic simulations are commonly used to optimize urban traffic flow, with reinforcement learning (RL) showing promising potential for automated traffic signal control, particularly in intelligent transportation systems involving connected…

As the advanced driver assistance system (ADAS) functions become more sophisticated, the strategies that properly coordinate interaction and communication among the ADAS functions are required for autonomous driving. This paper proposes a…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Some imitation learning methods combine behavioural cloning with self-supervision to infer actions from state pairs. However, most rely on a large number of expert trajectories to increase generalisation and human intervention to capture…

Multitask learning (MTL) has recently gained a lot of popularity as a learning paradigm that can lead to improved per-task performance while also using fewer per-task model parameters compared to single task learning. One of the biggest…