相关论文: Plan Your Target and Learn Your Skills: Transferab…

Consider an imitation learning problem that the imitator and the expert have different dynamics models. Most of the current imitation learning methods fail because they focus on imitating actions. We propose a novel state alignment-based…

Offline reinforcement learning endeavors to leverage offline datasets to craft effective agent policy without online interaction, which imposes proper conservative constraints with the support of behavior policies to tackle the…

Behavioural cloning is an imitation learning technique that teaches an agent how to behave via expert demonstrations. Recent approaches use self-supervision of fully-observable unlabelled snapshots of the states to decode state pairs into…

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…

We study reinforcement learning (RL) in the setting of continuous time and space, for an infinite horizon with a discounted objective and the underlying dynamics driven by a stochastic differential equation. Built upon recent advances in…

In reinforcement learning applications like robotics, agents usually need to deal with various input/output features when specified with different state/action spaces by their developers or physical restrictions. This indicates unnecessary…

Reinforcement learning is a proven technique for an agent to learn a task. However, when learning a task using reinforcement learning, the agent cannot distinguish the characteristics of the environment from those of the task. This makes it…

Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives…

Imitation Learning from observation describes policy learning in a similar way to human learning. An agent's policy is trained by observing an expert performing a task. While many state-only imitation learning approaches are based on…

Deep reinforcement learning has been able to solve various tasks successfully, however, due to the construction of policy gradient and training dynamics, tuning deep reinforcement learning models remains challenging. As one of the most…

Modeling dynamic temporal dependencies is a critical challenge in time series pre-training, which evolve due to distribution shifts and multi-scale patterns. This temporal variability severely impairs the generalization of pre-trained…

Recent advances in multi-agent reinforcement learning have been largely limited in training one model from scratch for every new task. The limitation is due to the restricted model architecture related to fixed input and output dimensions.…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

This article introduces an imitation learning method for learning maximum entropy policies that comply with constraints demonstrated by expert trajectories executing a task. The formulation of the method takes advantage of results…

Data-enabled policy optimization (DeePO) is a newly proposed method to attack the open problem of direct adaptive LQR. In this work, we extend the DeePO framework to the linear quadratic tracking (LQT) with offline data. By introducing a…

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…

Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to this shift, the community has also turned to Deep…

Learning a single universal policy that can perform a diverse set of manipulation tasks is a promising new direction in robotics. However, existing techniques are limited to learning policies that can only perform tasks that are encountered…

We present DEPS, an end-to-end algorithm for discovering parameterized skills from expert demonstrations. Our method learns parameterized skill policies jointly with a meta-policy that selects the appropriate discrete skill and continuous…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…