相关论文: Diffusion Model-Augmented Behavioral Cloning

We consider a brand with a given budget that wants to promote a product over multiple rounds of influencer marketing. In each round, it commissions an influencer to promote the product over a social network, and then observes the subsequent…

Imitation learning suffers from causal confusion. This phenomenon occurs when learned policies attend to features that do not causally influence the expert actions but are instead spuriously correlated. Causally confused agents produce low…

Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

We tackle the problem of policy learning from expert demonstrations without a reward function. A central challenge in this space is that these policies fail upon deployment due to issues of distributional shift, environment stochasticity,…

Discriminative classifiers have become a foundational tool in deep learning for medical imaging, excelling at learning separable features of complex data distributions. However, these models often need careful design, augmentation, and…

Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…

Diffusion models have achieved remarkable success in conditional image generation, yet their outputs often remain misaligned with human preferences. To address this, recent work has applied Direct Preference Optimization (DPO) to diffusion…

Generating diverse and realistic human motion that can physically interact with an environment remains a challenging research area in character animation. Meanwhile, diffusion-based methods, as proposed by the robotics community, have…

Supervised imitation learning, also known as behavioral cloning, suffers from distribution drift leading to failures during policy execution. One approach to mitigate this issue is to allow an expert to correct the agent's actions during…

Imitation Learning (IL) is an effective learning paradigm exploiting the interactions between agents and environments. It does not require explicit reward signals and instead tries to recover desired policies using expert demonstrations. In…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…

Standard meta-learning for representation learning aims to find a common representation to be shared across multiple tasks. The effectiveness of these methods is often limited when the nuances of the tasks' distribution cannot be captured…

Learning robot policies that capture multimodality in the training data has been a long-standing open challenge for behavior cloning. Recent approaches tackle the problem by modeling the conditional action distribution with generative…

One of the bottlenecks in robotic intelligence is the instability of neural network models, which, unlike control models, lack a well-defined convergence domain and stability. This leads to risks when applying intelligence in the physical…

Behavioral cloning (BC) bears a high potential for safe and direct transfer of human skills to robots. However, demonstrations performed by human operators often contain noise or imperfect behaviors that can affect the efficiency of the…

In the field of Robot Learning, the complex mapping between high-dimensional observations such as RGB images and low-level robotic actions, two inherently very different spaces, constitutes a complex learning problem, especially with…

Behavior cloning has shown success in many sequential decision-making tasks by learning from expert demonstrations, yet they can be very sample inefficient and fail to generalize to unseen scenarios. One approach to these problems is to…

Imitation learning (IL) provides a data-driven framework for approximating policies for large-scale combinatorial optimisation problems formulated as sequential decision problems (SDPs), where exact solution methods are computationally…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…