相关论文: Leveraging Demonstrations with Latent Space Priors

Demonstration-based learning has shown great potential in stimulating pretrained language models' ability under limited data scenario. Simply augmenting the input with some demonstrations can significantly improve performance on few-shot…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

Reinforcement learning approaches have long appealed to the data management community due to their ability to learn to control dynamic behavior from raw system performance. Recent successes in combining deep neural networks with…

Intelligent agents can learn to represent the action spaces of other agents simply by observing them act. Such representations help agents quickly learn to predict the effects of their own actions on the environment and to plan complex…

Reinforcement learning (RL) presents a promising framework to learn policies through environment interaction, but often requires an infeasible amount of interaction data to solve complex tasks from sparse rewards. One direction includes…

In model-based reinforcement learning, the agent interleaves between model learning and planning. These two components are inextricably intertwined. If the model is not able to provide sensible long-term prediction, the executed planner…

The practical application of learning agents requires sample efficient and interpretable algorithms. Learning from behavioral priors is a promising way to bootstrap agents with a better-than-random exploration policy or a safe-guard against…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

As Large Language Models (LLMs) achieve remarkable empirical success through scaling model and data size, pretraining has become increasingly critical yet computationally prohibitive, hindering rapid development. Despite the availability of…

Latent representation learned from multi-layered neural networks via hierarchical feature abstraction enables recent success of deep learning. Under the deep learning framework, generalization performance highly depends on the learned…

The process of learning a manipulation task depends strongly on the action space used for exploration: posed in the incorrect action space, solving a task with reinforcement learning can be drastically inefficient. Additionally, similar…

Due to the lack of enough generalization in the state-space, common methods in Reinforcement Learning (RL) suffer from slow learning speed especially in the early learning trials. This paper introduces a model-based method in discrete…

Learning from demonstration is an effective method for human users to instruct desired robot behaviour. However, for most non-trivial tasks of practical interest, efficient learning from demonstration depends crucially on inductive bias in…

Despite many advances in deep-learning based semantic segmentation, performance drop due to distribution mismatch is often encountered in the real world. Recently, a few domain adaptation and active learning approaches have been proposed to…

Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…

Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints.…

Rapid development of large-scale pre-training has resulted in foundation models that can act as effective feature extractors on a variety of downstream tasks and domains. Motivated by this, we study the efficacy of pre-trained vision models…

Prior access to domain knowledge could significantly improve the performance of a reinforcement learning agent. In particular, it could help agents avoid potentially catastrophic exploratory actions, which would otherwise have to be…

Demonstration learning aims to guide the prompt prediction via providing answered demonstrations in the few shot settings. Despite achieving promising results, existing work only concatenates the answered examples as demonstrations to the…