相关论文: Programmatic Imitation Learning from Unlabeled and…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

One-shot Imitation Learning~(OSIL) aims to imbue AI agents with the ability to learn a new task from a single demonstration. To supervise the learning, OSIL typically requires a prohibitively large number of paired expert demonstrations --…

We study the problem of offline learning in automated decision systems under the contextual bandits model. We are given logged historical data consisting of contexts, (randomized) actions, and (nonnegative) rewards. A common goal is to…

Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the…

Partial Label Learning (PLL) is a typical weakly supervised learning task, which assumes each training instance is annotated with a set of candidate labels containing the ground-truth label. Recent PLL methods adopt identification-based…

We propose a demonstration-efficient strategy to compress a computationally expensive Model Predictive Controller (MPC) into a more computationally efficient representation based on a deep neural network and Imitation Learning (IL). By…

Incremental Learning (IL) has been a long-standing problem in both vision and Natural Language Processing (NLP) communities. In recent years, as Pre-trained Language Models (PLMs) have achieved remarkable progress in various NLP downstream…

Imitation learning has enabled robots to perform complex, long-horizon tasks in challenging dexterous manipulation settings. As new methods are developed, they must be rigorously evaluated and compared against corresponding baselines…

The internal language model (ILM) of the neural transducer has been widely studied. In most prior work, it is mainly used for estimating the ILM score and is subsequently subtracted during inference to facilitate improved integration with…

Partial label learning (PLL) is a typical weakly supervised learning problem, where each training example is associated with a set of candidate labels among which only one is true. Most existing PLL approaches assume that the incorrect…

Imitation learning considerably simplifies policy synthesis compared to alternative approaches by exploiting access to expert demonstrations. For such imitation policies, errors away from the training samples are particularly critical. Even…

Existing imitation learning (IL) methods such as inverse reinforcement learning (IRL) usually have a double-loop training process, alternating between learning a reward function and a policy and tend to suffer long training time and high…

One approach to Imitation Learning is Behavior Cloning, in which a robot observes a supervisor and infers a control policy. A known problem with this "off-policy" approach is that the robot's errors compound when drifting away from the…

To handle the complexities of real-world traffic, learning planners for self-driving from data is a promising direction. While recent approaches have shown great progress, they typically assume a setting in which the ground-truth world…

Imitation Learning (IL), also referred to as Learning from Demonstration (LfD), holds significant promise for capturing expert motor skills through efficient imitation, facilitating adept navigation of complex scenarios. A persistent…

Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

Imitation learning has emerged as a promising approach for addressing sequential decision-making problems, with the assumption that expert demonstrations are optimal. However, in real-world scenarios, most demonstrations are often…

Partial Multi-label Learning (PML) is a type of weakly supervised learning where each training instance corresponds to a set of candidate labels, among which only some are true. In this paper, we introduce \our{}, a novel probabilistic…

Machine learning models have exhibited exceptional results in various domains. The most prevalent approach for learning is the empirical risk minimizer (ERM), which adapts the model's weights to reduce the loss on a training set and…