相关论文: Learning from Imperfect Demonstrations via Adversa…

Methods of transfer learning try to combine knowledge from several related tasks (or domains) to improve performance on a test task. Inspired by causal methodology, we relax the usual covariate shift assumption and assume that it holds true…

To collaborate well with robots, we must be able to understand their decision making. Humans naturally infer other agents' beliefs and desires by reasoning about their observable behavior in a way that resembles inverse reinforcement…

Learning meaningful representations that maintain the content necessary for a particular task while filtering away detrimental variations is a problem of great interest in machine learning. In this paper, we tackle the problem of learning…

There has been a recent paradigm shift in robotics to data-driven learning for planning and control. Due to large number of experiences required for training, most of these approaches use a self-supervised paradigm: using sensors to measure…

In this paper, we study a simple and generic framework to tackle the problem of learning model parameters when a fraction of the training samples are corrupted. We first make a simple observation: in a variety of such settings, the…

Rapid progress in deep reinforcement learning has made it increasingly feasible to train controllers for high-dimensional humanoid bodies. However, methods that use pure reinforcement learning with simple reward functions tend to produce…

A key goal of unsupervised representation learning is "inverting" a data generating process to recover its latent properties. Existing work that provably achieves this goal relies on strong assumptions on relationships between the latent…

When deploying artificial agents in real-world environments where they interact with humans, it is crucial that their behavior is aligned with the values, social norms or other requirements of that environment. However, many environments…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

We study the problem of online learning in adversarial bandit problems under a partial observability model called off-policy feedback. In this sequential decision making problem, the learner cannot directly observe its rewards, but instead…

Consider learning an imitation policy on the basis of demonstrated behavior from multiple environments, with an eye towards deployment in an unseen environment. Since the observable features from each setting may be different, directly…

A critical need in assistive robotics, such as assistive wheelchairs for navigation, is a need to learn task intent and safety guarantees through user interactions in order to ensure safe task performance. For tasks where the objectives…

We consider the problem of imitation learning under misspecification: settings where the learner is fundamentally unable to replicate expert behavior everywhere. This is often true in practice due to differences in observation space and…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

In multi-agent reinforcement learning, the inherent non-stationarity of the environment caused by other agents' actions posed significant difficulties for an agent to learn a good policy independently. One way to deal with non-stationarity…

Classification and identification of different phases and the transitions between them is a central task in condensed matter physics. Machine learning, which has achieved dramatic success in a wide range of applications, holds the promise…

Safe reinforcement learning (Safe RL) aims to ensure policy performance while satisfying safety constraints. However, most existing Safe RL methods assume benign environments, making them vulnerable to adversarial perturbations commonly…

Machine learning models are vulnerable to both security attacks (e.g., adversarial examples) and privacy attacks (e.g., private attribute inference). We take the first step to mitigate both the security and privacy attacks, and maintain…

Learning from humans is challenging because people are imperfect teachers. When everyday humans show the robot a new task they want it to perform, humans inevitably make errors (e.g., inputting noisy actions) and provide suboptimal examples…

In this paper we propose a novel gradient algorithm to learn a policy from an expert's observed behavior assuming that the expert behaves optimally with respect to some unknown reward function of a Markovian Decision Problem. The…