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

Indoor positioning based on 5G data has achieved high accuracy through the adoption of recent machine learning (ML) techniques. However, the performance of learning-based methods degrades significantly when environmental conditions change,…

Human drivers can seamlessly adapt their driving decisions across geographical locations with diverse conditions and rules of the road, e.g., left vs. right-hand traffic. In contrast, existing models for autonomous driving have been thus…

Class-Incremental Learning (CIL) requires a learning system to learn new classes while retaining previously learned knowledge. However, in real-world scenarios such as autonomous driving, a system trained on urban roads in sunny weather may…

Deriving robust control policies for realistic urban navigation scenarios is not a trivial task. In an end-to-end approach, these policies must map high-dimensional images from the vehicle's cameras to low-level actions such as steering and…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

Recently, the Gromov-Wasserstein Optimal Transport (GWOT) problem has attracted the special attention of the ML community. In this problem, given two distributions supported on two (possibly different) spaces, one has to find the most…

Humans perceive the world through multiple senses, enabling them to create a comprehensive representation of their surroundings and to generalize information across domains. For instance, when a textual description of a scene is given,…

Incremental learning (IL) aims to overcome catastrophic forgetting of previous tasks while learning new ones. Existing IL methods make strong assumptions that the incoming task type will either only increases new classes or domains (i.e.…

Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Vision-based imitation learning has shown promise for robotic manipulation; however, its generalization remains limited in practical agricultural tasks. This limitation stems from scarce demonstration data and substantial visual domain gaps…

Imitation learning algorithms can be used to learn a policy from expert demonstrations without access to a reward signal. However, most existing approaches are not applicable in multi-agent settings due to the existence of multiple (Nash)…

Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to…

Imitation from observation is a computational technique that teaches an agent on how to mimic the behavior of an expert by observing only the sequence of states from the expert demonstrations. Recent approaches learn the inverse dynamics of…

Optimal Transport is a theory that allows to define geometrical notions of distance between probability distributions and to find correspondences, relationships, between sets of points. Many machine learning applications are derived from…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

This paper proposes a novel inverse reinforcement learning framework using a diffusion-based adaptive lookahead planner (IRL-DAL) for autonomous vehicles. Training begins with imitation from an expert finite state machine (FSM) controller…

We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing methods rely on interactive expert labeling, additional…

Online Class-Incremental Learning (OCIL) enables models to learn continuously from non-i.i.d. data streams. Since samples of the data streams can be seen only once, it is more suitable for real-world scenarios compared to offline learning.…