相关论文: Cross-Domain Imitation Learning via Optimal Transp…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

Imitation learning (IL) aims to learn an optimal policy from demonstrations. However, such demonstrations are often imperfect since collecting optimal ones is costly. To effectively learn from imperfect demonstrations, we propose a novel…

Multi-domain task-incremental learning requires a model to sequentially acquire knowledge across visually diverse domains without forgetting prior tasks, and without access to task identity at inference. Parameter-efficient methods built on…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

Optimal Transport (OT) has recently emerged as a powerful framework for learning minimal-displacement maps between distributions. The predominant approach involves a neural parametrization of the Monge formulation of OT, typically assuming…

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…

Imitation learning models for robotic tasks typically rely on multi-modal inputs, such as RGB images, language, and proprioceptive states. While proprioception is intuitively important for decision-making and obstacle avoidance, simply…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

Modeling how human moves in the space is useful for policy-making in transportation, public safety, and public health. Human movements can be viewed as a dynamic process that human transits between states (\eg, locations) over time. In the…

Deep reinforcement learning (DRL) has been demonstrated to be effective for several complex decision-making applications such as autonomous driving and robotics. However, DRL is notoriously limited by its high sample complexity and its lack…

Imitation Learning (IL) is a widely adopted approach which enables agents to learn from human expert demonstrations by framing the task as a supervised learning problem. However, IL often suffers from causal confusion, where agents…

Domain adaptive person Re-Identification (ReID) is challenging owing to the domain gap and shortage of annotations on target scenarios. To handle those two challenges, this paper proposes a coupling optimization method including the…

It has been a challenge to learning skills for an agent from long-horizon unannotated demonstrations. Existing approaches like Hierarchical Imitation Learning(HIL) are prone to compounding errors or suboptimal solutions. In this paper, we…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Autonomous driving involves complex tasks such as data fusion, object and lane detection, behavior prediction, and path planning. As opposed to the modular approach which dedicates individual subsystems to tackle each of those tasks, the…

Learning from demonstrations is a useful way to transfer a skill from one agent to another. While most imitation learning methods aim to mimic an expert skill by following the demonstration step-by-step, imitating every step in the…

Unsupervised domain adaptation person re-identification (Re-ID) aims to identify pedestrian images within an unlabeled target domain with an auxiliary labeled source-domain dataset. Many existing works attempt to recover reliable identity…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…

Imitation Learning describes the problem of recovering an expert policy from demonstrations. While inverse reinforcement learning approaches are known to be very sample-efficient in terms of expert demonstrations, they usually require…