相关论文: Data augmentation for efficient learning from para…

Approximating model predictive control (MPC) policy using expert-based supervised learning techniques requires labeled training data sets sampled from the MPC policy. This is typically obtained by sampling the feasible state-space and…

This paper considers the problem of data generation for MPC policy approximation. Learning an approximate MPC policy from expert demonstrations requires a large data set consisting of optimal state-action pairs, sampled across the feasible…

Recent Offline Reinforcement Learning methods have succeeded in learning high-performance policies from fixed datasets of experience. A particularly effective approach learns to first identify and then mimic optimal decision-making…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Offline reinforcement learning (RL) enables learning effective policies from fixed datasets without any environment interaction. Existing methods typically employ policy constraints to mitigate the distribution shift encountered during…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

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…

Data augmentation is an effective technique for improving the accuracy of modern image classifiers. However, current data augmentation implementations are manually designed. In this paper, we describe a simple procedure called AutoAugment…

Automated data augmentation has shown superior performance in image recognition. Existing works search for dataset-level augmentation policies without considering individual sample variations, which are likely to be sub-optimal. On the…

Learning generalizable and robust behavior cloning policies requires large volumes of high-quality robotics data. While human demonstrations (e.g., through teleoperation) serve as the standard source for expert behaviors, acquiring such…

This paper investigates how to incorporate expert observations (without explicit information on expert actions) into a deep reinforcement learning setting to improve sample efficiency. First, we formulate an augmented policy loss combining…

High-dimensional measurements are often correlated which motivates their approximation by factor models. This holds also true when features are engineered via low-dimensional interactions or kernel tricks. This often results in over…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

Data augmentation methods usually apply the same augmentation (or a mix of them) to all the training samples. For example, to perturb data with noise, the noise is sampled from a Normal distribution with a fixed standard deviation, for all…

The policy represented by the deep neural network can overfit the spurious features in observations, which hamper a reinforcement learning agent from learning effective policy. This issue becomes severe in high-dimensional state, where the…

Data augmentation is a critical component of deep learning pipelines, enhancing model generalization by increasing dataset diversity. Traditional augmentation strategies rely on manually designed transformations, stochastic sampling, or…

Data Augmentation is a common technique used to enhance the performance of deep learning models by expanding the training dataset. Automatic Data Augmentation (ADA) methods are getting popular because of their capacity to generate policies…

Data augmentation is commonly used to encode invariances in learning methods. However, this process is often performed in an inefficient manner, as artificial examples are created by applying a number of transformations to all points in the…

Imitation learning can reproduce policies by observing experts, which poses a problem regarding policy privacy. Policies, such as human, or policies on deployed robots, can all be cloned without consent from the owners. How can we protect…