相关论文: Unsupervised Skill Discovery with Bottleneck Optio…

In self-supervised robotic learning, agents acquire data through active interaction with their environment, incurring costs such as energy use, human oversight, and experimental time. To mitigate these, sample-efficient exploration is…

Recent advances in Reinforcement Learning with Verifiable Rewards (RLVR) for Large Language Model (LLM) reasoning have been hindered by a persistent challenge: exploration collapse. The semantic homogeneity of random rollouts often traps…

Multimodal demonstrations provide robots with an abundance of information to make sense of the world. However, such abundance may not always lead to good performance when it comes to learning sensorimotor control policies from human…

Deep neural networks (DNNs) have achieved significant success in various applications with large-scale and balanced data. However, data in real-world visual recognition are usually long-tailed, bringing challenges to efficient training and…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

In supervised learning, understanding an input's proximity to the training data can help a model decide whether it has sufficient evidence for reaching a reliable prediction. While powerful probabilistic models such as Gaussian Processes…

Learning skills in open-world environments is essential for developing agents capable of handling a variety of tasks by combining basic skills. Online demonstration videos are typically long but unsegmented, making them difficult to segment…

Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable…

We consider a Bayesian approach to offline model-based inverse reinforcement learning (IRL). The proposed framework differs from existing offline model-based IRL approaches by performing simultaneous estimation of the expert's reward…

Learning effective joint embedding for cross-modal data has always been a focus in the field of multimodal machine learning. We argue that during multimodal fusion, the generated multimodal embedding may be redundant, and the discriminative…

Inverse Reinforcement Learning (IRL) has demonstrated effectiveness in a variety of imitation tasks. In this paper, we introduce an IRL framework designed to extract rewarding features from expert trajectories affected by delayed…

Quadrupedal locomotion is a complex, open-ended problem vital to expanding autonomous vehicle reach. Traditional reinforcement learning approaches often fall short due to training instability and sample inefficiency. We propose a novel…

We present the information-ordered bottleneck (IOB), a neural layer designed to adaptively compress data into latent variables ordered by likelihood maximization. Without retraining, IOB nodes can be truncated at any bottleneck width,…

Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics…

We view the Information Bottleneck Principle (IBP: Tishby et al., 1999; Schwartz-Ziv and Tishby, 2017) and Predictive Information Bottleneck Principle (PIBP: Still et al., 2007; Alemi, 2019) as special cases of a family of general…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

Detecting out-of-distribution (OOD) samples is critical for safe deployment of neural networks in safety-critical applications. While maximum softmax probability (MSP) provides a simple baseline, it lacks theoretical grounding and suffers…

Skill discovery methods enable agents to learn diverse emergent behaviors without explicit rewards. To make learned skills useful for unknown downstream tasks, obtaining a semantically diverse repertoire of skills is essential. While some…

The Information Bottleneck (IB) principle facilitates effective representation learning by preserving label-relevant information while compressing irrelevant information. However, its strong reliance on accurate labels makes it inherently…

Visual imitation learning provides an effective framework to learn skills from demonstrations. However, the quality of the provided demonstrations usually significantly affects the ability of an agent to acquire desired skills. Therefore,…