相关论文: DITTO: Offline Imitation Learning with World Model…

Among the reasons hindering reinforcement learning (RL) applications to real-world problems, two factors are critical: limited data and the mismatch between the testing environment (real environment in which the policy is deployed) and the…

Offline reinforcement learning (RL) refers to the problem of learning policies from a static dataset of environment interactions. Offline RL enables extensive use and re-use of historical datasets, while also alleviating safety concerns…

We consider the problem of learning to perform a task from demonstrations given by teachers or experts, when some of the experts' demonstrations might be adversarial and demonstrate an incorrect way to perform the task. We propose a novel…

Learning to Optimize (L2O) enhances optimization efficiency with integrated neural networks. L2O paradigms achieve great outcomes, e.g., refitting optimizer, generating unseen solutions iteratively or directly. However, conventional L2O…

Three challenges limit the progress of robot learning research: robots are expensive (few labs can participate), everyone uses different robots (findings do not generalize across labs), and we lack internet-scale robotics data. We take on…

In online learning, the data is provided in a sequential order, and the goal of the learner is to make online decisions to minimize overall regrets. This note is concerned with continuous-time models and algorithms for several online…

Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, where end-to-end policy finetuning remains inefficient and…

Diffusion transformers (DiTs) achieve high generative quality but lock FLOPs to image resolution, limiting principled latency-quality trade-offs, and allocate computation uniformly across input spatial tokens, wasting resource allocation to…

In offline reinforcement learning, deriving an effective policy from a pre-collected set of experiences is challenging due to the distribution mismatch between the target policy and the behavioral policy used to collect the data, as well as…

State-of-the-art imitation learning from observation methods (ILfO) have recently made significant progress, but they still have some limitations: they need action-based supervised optimisation, assume that states have a single optimal…

We study unconstrained Online Linear Optimization with Lipschitz losses. Motivated by the pursuit of instance optimality, we propose a new algorithm that simultaneously achieves ($i$) the AdaGrad-style second order gradient adaptivity; and…

Recent research on vulnerabilities of deep reinforcement learning (RL) has shown that adversarial policies adopted by an adversary agent can influence a target RL agent (victim agent) to perform poorly in a multi-agent environment. In…

Sample efficiency is critical in solving real-world reinforcement learning problems, where agent-environment interactions can be costly. Imitation learning from expert advice has proved to be an effective strategy for reducing the number of…

Self-supervised learning solves pretext prediction tasks that do not require annotations to learn feature representations. For vision tasks, pretext tasks such as predicting rotation, solving jigsaw are solely created from the input data.…

World models learned from high-dimensional visual observations allow agents to make decisions and plan directly in latent space, avoiding pixel-level reconstruction. However, recent latent predictive architectures (JEPAs), including the…

Imitation learning is a control design paradigm that seeks to learn a control policy reproducing demonstrations from expert agents. By substituting expert demonstrations for optimal behaviours, the same paradigm leads to the design of…

Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…

We investigate the statistical and computational limits of latent Diffusion Transformers (DiTs) under the low-dimensional linear latent space assumption. Statistically, we study the universal approximation and sample complexity of the DiTs…

Deep metric learning aims to transform input data into an embedding space, where similar samples are close while dissimilar samples are far apart from each other. In practice, samples of new categories arrive incrementally, which requires…

Sequential prediction problems such as imitation learning, where future observations depend on previous predictions (actions), violate the common i.i.d. assumptions made in statistical learning. This leads to poor performance in theory and…