相关论文: Information Maximizing Curriculum: A Curriculum-Ba…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

Learning control policies for multi-robot systems (MRS) remains a major challenge due to long-term coordination and the difficulty of obtaining realistic training data. In this work, we address both limitations within an imitation learning…

Curriculum learning and imitation learning have been leveraged extensively in the robotics domain. However, minimal research has been done on leveraging these ideas on control tasks over highly stochastic time-series data. Here, we…

This article introduces an imitation learning method for learning maximum entropy policies that comply with constraints demonstrated by expert trajectories executing a task. The formulation of the method takes advantage of results…

Curriculum learning techniques are a viable solution for improving the accuracy of automatic models, by replacing the traditional random training with an easy-to-hard strategy. However, the standard curriculum methodology does not…

We consider the problem of teaching via demonstrations in sequential decision-making settings. In particular, we study how to design a personalized curriculum over demonstrations to speed up the learner's convergence. We provide a unified…

Modelling highly multi-modal data is a challenging problem in machine learning. Most algorithms are based on maximizing the likelihood, which corresponds to the M(oment)-projection of the data distribution to the model distribution. The…

Mixture-of-Experts (MoE) models have shown remarkable capability in instruction tuning, especially when the number of tasks scales. However, previous methods simply merge all training tasks (e.g. creative writing, coding, and mathematics)…

Imitation learning with human data has demonstrated remarkable success in teaching robots in a wide range of skills. However, the inherent diversity in human behavior leads to the emergence of multi-modal data distributions, thereby…

Curriculum learning, a training technique where data is presented to the model in order of example difficulty (e.g., from simpler to more complex documents), has shown limited success for pre-training language models. In this work, we…

Many recent methods for unsupervised or self-supervised representation learning train feature extractors by maximizing an estimate of the mutual information (MI) between different views of the data. This comes with several immediate…

Influence maximization is the problem of finding a small subset of nodes in a network that can maximize the diffusion of information. Recently, it has also found application in HIV prevention, substance abuse prevention, micro-finance…

Masked Image Modeling (MIM) has emerged as a powerful self-supervised learning paradigm for visual representation learning, enabling models to acquire rich visual representations by predicting masked portions of images from their visible…

The i.i.d. assumption is a useful idealization that underpins many successful approaches to supervised machine learning. However, its violation can lead to models that learn to exploit spurious correlations in the training data, rendering…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

This paper proposes an information-theoretic representation learning framework, named conditional information flow maximization, to extract noise-invariant sufficient representations for the input data and target task. It promotes the…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

Imitation learning is widely used for learning to act in complex environments. While pure neural-based methods handle high dimensional data effectively, they suffer from the requirement of large number of samples and are prone to…