相关论文: Transfering Hierarchical Structure with Dual Meta …

Multi-task learning (MTL) aims to improve the generalization of several related tasks by learning them jointly. As a comparison, in addition to the joint training scheme, modern meta-learning allows unseen tasks with limited labels during…

Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…

The aim of Few-Shot learning methods is to train models which can easily adapt to previously unseen tasks, based on small amounts of data. One of the most popular and elegant Few-Shot learning approaches is Model-Agnostic Meta-Learning…

Optimization-based meta-learning aims to learn an initialization so that a new unseen task can be learned within a few gradient updates. Model Agnostic Meta-Learning (MAML) is a benchmark algorithm comprising two optimization loops. The…

Meta-Learning is a subarea of Machine Learning that aims to take advantage of prior knowledge to learn faster and with fewer data [1]. There are different scenarios where meta-learning can be applied, and one of the most common is algorithm…

Hierarchical agents have the potential to solve sequential decision making tasks with greater sample efficiency than their non-hierarchical counterparts because hierarchical agents can break down tasks into sets of subtasks that only…

Humanoid robot loco-manipulation remains constrained by the semantic-physical gap. Current methods face three limitations: Low sample efficiency in reinforcement learning, poor generalization in imitation learning, and physical…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

Model-agnostic meta-learners aim to acquire meta-learned parameters from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. With the flexibility in the choice of models, those frameworks demonstrate…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision…

Autonomous manipulation in robot arms is a complex and evolving field of study in robotics. This paper introduces an innovative approach to this challenge by focusing on imitation learning (IL). Unlike traditional imitation methods, our…

Large Language Models (LLMs) have demonstrated remarkable abilities in various language tasks, making them promising candidates for decision-making in robotics. Inspired by Hierarchical Reinforcement Learning (HRL), we propose…

Meta-learning is a branch of machine learning which aims to quickly adapt models, such as neural networks, to perform new tasks by learning an underlying structure across related tasks. In essence, models are being trained to learn new…

Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…

Hierarchical reinforcement learning (HRL) is hypothesized to be able to leverage the inherent hierarchy in learning tasks where traditional reinforcement learning (RL) often fails. In this research, HRL is evaluated and contrasted with…

Bipedal robots do not perform well as humans since they do not learn to walk like we do. In this paper we propose a method to train a bipedal robot to perform some basic movements with the help of imitation learning (IL) in which an…

Deep reinforcement learning has been successfully used in many dynamic decision making domains, especially those with very large state spaces. However, it is also well-known that deep reinforcement learning can be very slow and resource…

Learning interpretable and transferable subpolicies and performing task decomposition from a single, complex task is difficult. Some traditional hierarchical reinforcement learning techniques enforce this decomposition in a top-down manner,…

Imitation learning (IL) enables agents to acquire skills by observing and replicating the behavior of one or multiple experts. In recent years, advances in deep learning have significantly expanded the capabilities and scalability of…