相关论文: Dynamic Conditional Imitation Learning for Autonom…

In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…

Scene understanding is essential for enhancing driver safety, generating human-centric explanations for Automated Vehicle (AV) decisions, and leveraging Artificial Intelligence (AI) for retrospective driving video analysis. This study…

Class-Incremental Learning (CIL) enables learning systems to continuously adapt to evolving data streams. With the advancement of pre-training, leveraging pre-trained vision-language models (e.g., CLIP) offers a promising starting point for…

Collaborative robots must continually adapt to novel tasks and user preferences without overburdening the user. While prior interactive robot learning methods aim to reduce human effort, they are typically limited to single-task scenarios…

In the scenario of class-incremental learning (CIL), deep neural networks have to adapt their model parameters to non-stationary data distributions, e.g., the emergence of new classes over time. However, CIL models are challenged by the…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Class Incremental Learning (CIL) aims to sequentially learn new classes while avoiding catastrophic forgetting of previous knowledge. We propose to use Masked Autoencoders (MAEs) as efficient learners for CIL. MAEs were originally designed…

Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and…

Decision and control are core functionalities of high-level automated vehicles. Current mainstream methods, such as functionality decomposition and end-to-end reinforcement learning (RL), either suffer high time complexity or poor…

When supervising an object detector with weakly labeled data, most existing approaches are prone to trapping in the discriminative object parts, e.g., finding the face of a cat instead of the full body, due to lacking the supervision on the…

A sudden roadblock on highways due to many reasons such as road maintenance, accidents, and car repair is a common situation we encounter almost daily. Autonomous Vehicles (AVs) equipped with sensors that can acquire vehicle dynamics such…

Model-free learning-based control methods have recently shown significant advantages over traditional control methods in avoiding complex vehicle characteristic estimation and parameter tuning. As a primary policy learning method, imitation…

Large Language Models (LLMs) have demonstrated an impressive capability known as In-context Learning (ICL), which enables them to acquire knowledge from textual demonstrations without the need for parameter updates. However, many studies…

We propose a general framework for causal Imitation Learning (IL) with hidden confounders, which subsumes several existing settings. Our framework accounts for two types of hidden confounders: (a) variables observed by the expert but not by…

In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the potential to improve sample efficiency in various machine…

We propose an imitation learning system for autonomous driving in urban traffic with interactions. We train a Behavioral Cloning~(BC) policy to imitate driving behavior collected from the real urban traffic, and apply the data aggregation…

Incremental Learning (IL) aims to accumulate knowledge from sequential input tasks while overcoming catastrophic forgetting. Existing IL methods typically assume that an incoming task has only increments of classes or domains, referred to…

We study the question of how to imitate tasks across domains with discrepancies such as embodiment, viewpoint, and dynamics mismatch. Many prior works require paired, aligned demonstrations and an additional RL step that requires…