相关论文: Environment Imitation: Data-Driven Environment Mod…

Active learning agents typically employ a query selection algorithm which solely considers the agent's learning objectives. However, this may be insufficient in more realistic human domains. This work uses imitation learning to enable an…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

Cyber-physical systems (CPS), which integrate algorithmic control with physical processes, often consist of physically distributed components communicating over a network. A malfunctioning or compromised component in such a CPS can lead to…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and…

We present a simple and intuitive approach for interactive control of physically simulated characters. Our work builds upon generative adversarial networks (GAN) and reinforcement learning, and introduces an imitation learning framework…

Cyber-Physical Systems (CPSs) tightly interconnect digital and physical operations within production environments, enabling real-time monitoring, control, optimization, and autonomous decision-making that directly enhance manufacturing…

Imitation learning trains a policy by mimicking expert demonstrations. Various imitation methods were proposed and empirically evaluated, meanwhile, their theoretical understanding needs further studies. In this paper, we firstly analyze…

Testing and validating Cyber-Physical Systems (CPSs) in the aerospace domain, such as field testing of drone rescue missions, poses challenges due to volatile mission environments, such as weather conditions. While testing processes and…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Cyber-physical space systems are engineered systems operating within physical space with design requirements that depend on space, e.g., regarding location or movement behavior. They are built from and depend upon the seamless integration…

We cast visual imitation as a visual correspondence problem. Our robotic agent is rewarded when its actions result in better matching of relative spatial configurations for corresponding visual entities detected in its workspace and…

In recent times, there has been a growing focus on end-to-end autonomous driving technologies. This technology involves the replacement of the entire driving pipeline with a single neural network, which has a simpler structure and faster…

Users interact with text, image, code, or other editors on a daily basis. However, machine learning models are rarely trained in the settings that reflect the interactivity between users and their editor. This is understandable as training…

Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…

We identify the need for a gamified self-driving simulator where game mechanics encourage high-quality data capture, and design and apply such a simulator to collecting lane-following training data. The resulting synthetic data enables a…

The development, benchmarking and validation of aerial Persistent Surveillance (PS) algorithms requires access to specialist Wide Area Aerial Surveillance (WAAS) datasets. Such datasets are difficult to obtain and are often extremely large…

Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not…