相关论文: imitation: Clean Imitation Learning Implementation…

Imitation Learning is a promising area of active research. Over the last 30 years, Imitation Learning has advanced significantly and been used to solve difficult tasks ranging from Autonomous Driving to playing Atari games. In the course of…

We study inverse reinforcement learning (IRL) and imitation learning (IM), the problems of recovering a reward or policy function from expert's demonstrated trajectories. We propose a new way to improve the learning process by adding a…

Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

Multiple Instance Learning (MIL) is a powerful framework for weakly supervised learning, particularly useful when fine-grained annotations are unavailable. Despite growing interest in deep MIL methods, the field lacks standardized tools for…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

In recent years, Predictive Process Mining (PPM) techniques based on artificial neural networks have evolved as a method for monitoring the future behavior of unfolding business processes and predicting Key Performance Indicators (KPIs).…

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Deep learning techniques have been widely applied, achieving state-of-the-art results in various fields of study. This survey focuses on deep learning solutions that target learning control policies for robotics applications. We carry out…

TorchBeast is a platform for reinforcement learning (RL) research in PyTorch. It implements a version of the popular IMPALA algorithm for fast, asynchronous, parallel training of RL agents. Additionally, TorchBeast has simplicity as an…

Inverse reinforcement learning (IRL) is a common technique for inferring human preferences from data. Standard IRL techniques tend to assume that the human demonstrator is stationary, that is that their policy $\pi$ doesn't change over…

Recent successes in machine learning have led to a shift in the design of autonomous systems, improving performance on existing tasks and rendering new applications possible. Data-focused approaches gain relevance across diverse, intricate…

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…

Imitation learning, which enables robots to learn behaviors from demonstrations by human, has emerged as a promising solution for generating robot motions in such environments. The imitation learning-based robot motion generation method,…

Large language models (LLMs) trained with Reinforcement Learning from Human Feedback (RLHF) have demonstrated remarkable capabilities, but their underlying reward functions and decision-making processes remain opaque. This paper introduces…

Machine learning (ML) involves private data and proprietary model parameters. MPC-based ML allows multiple parties to collaboratively run an ML workload without sharing their private data or model parameters using multi-party computing…

We study the problem of smooth imitation learning for online sequence prediction, where the goal is to train a policy that can smoothly imitate demonstrated behavior in a dynamic and continuous environment in response to online, sequential…

Deep neural networks has become the first choice for researchers working on algorithmic aspects of learning-to-rank. Unfortunately, it is not trivial to find the optimal setting of hyper-parameters that achieves the best ranking…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…