相关论文: Practical Imitation Learning in the Real World via…

In-context learning (ICL) is a key building block of modern large language models, yet its theoretical mechanisms remain poorly understood. It is particularly mysterious how ICL operates in real-world applications where tasks have a common…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

This paper aims to investigate direct imitation learning from human drivers for the task of lane keeping assistance in highway and country roads using grayscale images from a single front view camera. The employed method utilizes…

Imitation Learning uses the demonstrations of an expert to uncover the optimal policy and it is suitable for real-world robotics tasks as well. In this case, however, the training of the agent is carried out in a simulation environment due…

Robotic insertion tasks are characterized by contact and friction mechanics, making them challenging for conventional feedback control methods due to unmodeled physical effects. Reinforcement learning (RL) is a promising approach for…

In coming up with solutions to real-world problems, humans implicitly adhere to constraints that are too numerous and complex to be specified completely. However, reinforcement learning (RL) agents need these constraints to learn the…

We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during execution. We investigate the effectiveness of the Continuity-based…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

For long-term deployment in dynamic real-world environments, assistive robots must continue to learn and adapt to their environments. Researchers have developed various computational models for continual learning (CL) that can allow robots…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

In-context learning (ICL) is a type of prompting where a transformer model operates on a sequence of (input, output) examples and performs inference on-the-fly. In this work, we formalize in-context learning as an algorithm learning problem…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

In-context learning (ICL) has demonstrated remarkable success in large language models (LLMs) due to its adaptability and parameter-free nature. However, it also introduces a critical vulnerability to backdoor attacks, where adversaries can…

Conditional imitation learning (CIL) trains deep neural networks, in an end-to-end manner, to mimic human driving. This approach has demonstrated suitable vehicle control when following roads, avoiding obstacles, or taking specific turns at…

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…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Learning in simulation and transferring the learned policy to the real world has the potential to enable generalist robots. The key challenge of this approach is to address simulation-to-reality (sim-to-real) gaps. Previous methods often…

Continuous-time reinforcement learning (CTRL) provides a principled framework for sequential decision-making in environments where interactions evolve continuously over time. Despite its empirical success, the theoretical understanding of…

Most existing works on continual learning (CL) focus on overcoming the catastrophic forgetting (CF) problem, with dynamic models and replay methods performing exceptionally well. However, since current works tend to assume exclusivity or…

In-context Learning (ICL) has emerged as a powerful capability alongside the development of scaled-up large language models (LLMs). By instructing LLMs using few-shot demonstrative examples, ICL enables them to perform a wide range of tasks…