相关论文: Explainable Hierarchical Imitation Learning for Ro…

Explanatory interactive learning (XIL) enables users to guide model training in machine learning (ML) by providing feedback on the model's explanations, thereby helping it to focus on features that are relevant to the prediction from the…

Imitation learning (IL) algorithms use expert demonstrations to learn a specific task. Most of the existing approaches assume that all expert demonstrations are reliable and trustworthy, but what if there exist some adversarial…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Adversarial imitation learning (AIL) is a popular method that has recently achieved much success. However, the performance of AIL is still unsatisfactory on the more challenging tasks. We find that one of the major reasons is due to the low…

Machine learning is the dominant approach to artificial intelligence, through which computers learn from data and experience. In the framework of supervised learning, a necessity for a computer to learn from data accurately and efficiently…

Designing modern imitation learning (IL) policies requires making numerous decisions, including the selection of feature encoding, architecture, policy representation, and more. As the field rapidly advances, the range of available options…

Hierarchical reinforcement learning (HRL) improves the efficiency of long-horizon reinforcement-learning tasks with sparse rewards by decomposing the task into a hierarchy of subgoals. The main challenge of HRL is efficient discovery of the…

Imitation learning from human demonstrations is a promising paradigm for teaching robots manipulation skills in the real world. However, learning complex long-horizon tasks often requires an unattainable amount of demonstrations. To reduce…

Despite the significant success at enabling robots with autonomous behaviors makes deep reinforcement learning a promising approach for robotic object search task, the deep reinforcement learning approach severely suffers from the nature…

eXplainable AI focuses on generating explanations for the output of an AI algorithm to a user, usually a decision-maker. Such user needs to interpret the AI system in order to decide whether to trust the machine outcome. When addressing…

There is a growing interest within the AI research community to develop autonomous systems capable of explaining their behavior to users. One aspect of the explanation generation problem that has yet to receive much attention is the task of…

Learned knowledge graph representations supporting robots contain a wealth of domain knowledge that drives robot behavior. However, there does not exist an inference reconciliation framework that expresses how a knowledge graph…

Recent developments in imitation learning have considerably advanced robotic manipulation. However, current techniques in imitation learning can suffer from poor generalization, limiting performance even under relatively minor domain…

Multi-task learning by robots poses the challenge of the domain knowledge: complexity of tasks, complexity of the actions required, relationship between tasks for transfer learning. We demonstrate that this domain knowledge can be learned…

Hierarchical learning (HL) is key to solving complex sequential decision problems with long horizons and sparse rewards. It allows learning agents to break-up large problems into smaller, more manageable subtasks. A common approach to HL,…

Robust waypoint prediction is crucial for mobile robots operating in open-world, safety-critical settings. While Imitation Learning (IL) methods have demonstrated great success in practice, they are susceptible to distribution shifts: the…

We tackle a common scenario in imitation learning (IL), where agents try to recover the optimal policy from expert demonstrations without further access to the expert or environment reward signals. Except the simple Behavior Cloning (BC)…

Imitation learning for robotic manipulation often suffers from limited generalization and data scarcity, especially in complex, long-horizon tasks. In this work, we introduce a hierarchical framework that leverages code-generating…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

With the availability of large databases and recent improvements in deep learning methodology, the performance of AI systems is reaching or even exceeding the human level on an increasing number of complex tasks. Impressive examples of this…