相关论文: SKILL-IL: Disentangling Skill and Knowledge in Mul…

We consider the problem of multiple agents sensing and acting in environments with the goal of maximising their shared utility. In these environments, agents must learn communication protocols in order to share information that is needed to…

Large language models (LLMs) have shown incredible performance in completing various real-world tasks. The current paradigm of knowledge learning for LLMs is mainly based on learning from examples, in which LLMs learn the internal rule…

Recent advances in skill learning has propelled robot manipulation to new heights by enabling it to learn complex manipulation tasks from a practical number of demonstrations. However, these skills are often limited to the particular…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

Meta-learning agents excel at rapidly learning new tasks from open-ended task distributions; yet, they forget what they learn about each task as soon as the next begins. When tasks reoccur - as they do in natural environments - metalearning…

Many medical datasets have recently been created for medical image segmentation tasks, and it is natural to question whether we can use them to sequentially train a single model that (1) performs better on all these datasets, and (2)…

For service robots to become general-purpose in everyday household environments, they need not only a large library of primitive skills, but also the ability to quickly learn novel tasks specified by users. Fine-tuning neural networks on a…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

We present Bayesian Team Imitation Learner (BTIL), an imitation learning algorithm to model the behavior of teams performing sequential tasks in Markovian domains. In contrast to existing multi-agent imitation learning techniques, BTIL…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

Imitation learning has driven the development of generalist policies capable of autonomously solving multiple tasks. However, when a pretrained policy makes errors during deployment, there are limited mechanisms for users to correct its…

The size and the computational load of fine-tuning large-scale pre-trained neural network are becoming two major obstacles in adopting machine learning in many applications. Continual learning (CL) can serve as a remedy through enabling…

Recently, motion generation by machine learning has been actively researched to automate various tasks. Imitation learning is one such method that learns motions from data collected in advance. However, executing long-term tasks remains…

Multi-agent robotic systems are increasingly operating in real-world environments in close proximity to humans, yet are largely controlled by policy models with inscrutable deep neural network representations. We introduce a method for…

The idea of reusing information from previously learned tasks (source tasks) for the learning of new tasks (target tasks) has the potential to significantly improve the sample efficiency reinforcement learning agents. In this work, we…

Reinforcement Learning (RL) and Imitation Learning (IL) have made great progress in robotic decision-making in recent years. However, these methods show obvious deterioration for new tasks that need to be completed through new combinations…

Imitation learning (IL) seeks to teach agents specific tasks through expert demonstrations. One of the key approaches to IL is to define a distance between agent and expert and to find an agent policy that minimizes that distance. Optimal…

Assigning repetitive and physically-demanding construction tasks to robots can alleviate human workers's exposure to occupational injuries. Transferring necessary dexterous and adaptive artisanal construction craft skills from workers to…

Being able to transfer existing skills to new situations is a key capability when training robots to operate in unpredictable real-world environments. A successful transfer algorithm should not only minimize the number of samples that the…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…