相关论文: Unsupervised Skill Discovery with Bottleneck Optio…

Exploration is crucial for enabling legged robots to learn agile locomotion behaviors that can overcome diverse obstacles. However, such exploration is inherently challenging, and we often rely on extensive reward engineering, expert…

Implementing intelligent control of robots is a difficult task, especially when dealing with complex black-box systems, because of the lack of visibility and understanding of how these robots work internally. This paper proposes an…

We propose a new method for learning image attention masks in a semi-supervised setting based on the Information Bottleneck principle. Provided with a set of labeled images, the mask generation model is minimizing mutual information between…

Several self-supervised representation learning methods have been proposed for reinforcement learning (RL) with rich observations. For real-world applications of RL, recovering underlying latent states is crucial, particularly when sensory…

Multimodal supervision has achieved promising results in many visual language understanding tasks, where the language plays an essential role as a hint or context for recognizing and locating instances. However, due to the defects of the…

Interpreting and explaining the behavior of deep neural networks is critical for many tasks. Explainable AI provides a way to address this challenge, mostly by providing per-pixel relevance to the decision. Yet, interpreting such…

Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior…

Imitation learning is a primary approach to improve the efficiency of reinforcement learning by exploiting the expert demonstrations. However, in many real scenarios, obtaining expert demonstrations could be extremely expensive or even…

In practical scenarios where training data is limited, many predictive signals in the data can be rather from some biases in data acquisition (i.e., less generalizable), so that one cannot prevent a model from co-adapting on such…

Imitation learning (IL) has proven to be an effective method for learning good policies from expert demonstrations. Adversarial imitation learning (AIL), a subset of IL methods, is particularly promising, but its theoretical foundation in…

Deep neural networks suffer from poor generalization to unseen environments when the underlying data distribution is different from that in the training set. By learning minimum sufficient representations from training data, the information…

Information Bottleneck (IB) based multi-view learning provides an information theoretic principle for seeking shared information contained in heterogeneous data descriptions. However, its great success is generally attributed to estimate…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

The information bottleneck principle is an elegant and useful approach to representation learning. In this paper, we investigate the problem of representation learning in the context of reinforcement learning using the information…

One of the key capabilities of intelligent agents is the ability to discover useful skills without external supervision. However, the current unsupervised skill discovery methods are often limited to acquiring simple, easy-to-learn skills…

We address the question of characterizing and finding optimal representations for supervised learning. Traditionally, this question has been tackled using the Information Bottleneck, which compresses the inputs while retaining information…

The Information Bottleneck (IB) method (\cite{tishby2000information}) provides an insightful and principled approach for balancing compression and prediction for representation learning. The IB objective $I(X;Z)-\beta I(Y;Z)$ employs a…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Unsupervised Skill Discovery (USD) allows agents to autonomously learn diverse behaviors without task-specific rewards. While recent USD methods have shown promise, their application to real-world robotics remains underexplored. In this…

Imitation from observation (IfO) is a learning paradigm that consists of training autonomous agents in a Markov Decision Process (MDP) by observing expert demonstrations without access to its actions. These demonstrations could be sequences…