相关论文: Diffusion Model-Augmented Behavioral Cloning

Data imputation and data generation have important applications for many domains, like healthcare and finance, where incomplete or missing data can hinder accurate analysis and decision-making. Diffusion models have emerged as powerful…

Recently, diffusion model shines as a promising backbone for the sequence modeling paradigm in offline reinforcement learning(RL). However, these works mostly lack the generalization ability across tasks with reward or dynamics change. To…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback of this approach is the need to learn a denoising function,…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

Imitation learning (IL) aims to learn a policy from expert demonstrations and has been applied to various applications. By learning from the expert policy, IL methods do not require environmental interactions or reward signals. However,…

Disentangled representation learning strives to extract the intrinsic factors within observed data. Factorizing these representations in an unsupervised manner is notably challenging and usually requires tailored loss functions or specific…

Spreading processes play an increasingly important role in modeling for diffusion networks, information propagation, marketing and opinion setting. We address the problem of learning of a spreading model such that the predictions generated…

Offline reinforcement learning (RL) algorithms can acquire effective policies by utilizing previously collected experience, without any online interaction. It is widely understood that offline RL is able to extract good policies even from…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

Imitation learning has proven to be useful for many real-world problems, but approaches such as behavioral cloning suffer from data mismatch and compounding error issues. One attempt to address these limitations is the DAgger algorithm,…

Action advising is a peer-to-peer knowledge exchange technique built on the teacher-student paradigm to alleviate the sample inefficiency problem in deep reinforcement learning. Recently proposed student-initiated approaches have obtained…

Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions. However, these methods often require large datasets and…

Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…

Imitation learning has been applied to a range of robotic tasks, but can struggle when robots encounter edge cases that are not represented in the training data (i.e., distribution shift). Interactive fleet learning (IFL) mitigates…

Offline reinforcement learning, by learning from a fixed dataset, makes it possible to learn agent behaviors without interacting with the environment. However, depending on the quality of the offline dataset, such pre-trained agents may…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning costs, especially for imitation learning-based approaches,…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

Adversarial Imitation Learning is traditionally framed as a two-player zero-sum game between a learner and an adversarially chosen cost function, and can therefore be thought of as the sequential generalization of a Generative Adversarial…