相关论文: Visual Adversarial Imitation Learning using Variat…

We introduce VIOLA, an object-centric imitation learning approach to learning closed-loop visuomotor policies for robot manipulation. Our approach constructs object-centric representations based on general object proposals from a…

Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…

Reinforcement learning provides a powerful and general framework for decision making and control, but its application in practice is often hindered by the need for extensive feature and reward engineering. Deep reinforcement learning…

Visual model-based RL methods typically encode image observations into low-dimensional representations in a manner that does not eliminate redundant information. This leaves them susceptible to spurious variations -- changes in…

Specifying reward signals that allow agents to learn complex behaviors is a long-standing challenge in reinforcement learning. A promising approach is to extract preferences for behaviors from unlabeled videos, which are widely available on…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

Adversarial learning methods have been proposed for a wide range of applications, but the training of adversarial models can be notoriously unstable. Effectively balancing the performance of the generator and discriminator is critical,…

Successful collaboration requires team members to stay aligned, especially in complex sequential tasks. Team members must dynamically coordinate which subtasks to perform and in what order. However, real-world constraints like partial…

Multi-modal learning, which focuses on utilizing various modalities to improve the performance of a model, is widely used in video recognition. While traditional multi-modal learning offers excellent recognition results, its computational…

Meta-learning enables a model to learn from very limited data to undertake a new task. In this paper, we study the general meta-learning with adversarial samples. We present a meta-learning algorithm, ADML (ADversarial Meta-Learner), which…

Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…

Viewpoint invariance remains challenging for visual recognition in the 3D world, as altering the viewing directions can significantly impact predictions for the same object. While substantial efforts have been dedicated to making neural…

We study reward models for long-horizon manipulation tasks by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Recent advancements in cross-modality modeling have…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Acquiring complex behaviors is essential for artificially intelligent agents, yet learning these behaviors in high-dimensional settings poses a significant challenge due to the vast search space. Traditional reinforcement learning (RL)…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

While reinforcement learning algorithms provide automated acquisition of optimal policies, practical application of such methods requires a number of design decisions, such as manually designing reward functions that not only define the…

The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Large Vision-Language Models (VLMs) have achieved remarkable success in understanding complex real-world scenarios and supporting data-driven decision-making processes. However, VLMs exhibit significant vulnerability against adversarial…