相关论文: CCIL: Context-conditioned imitation learning for u…

In-context learning (ICL) has emerged as a powerful paradigm for adapting large language models (LLMs) to new and data-scarce tasks using only a few carefully selected task-specific examples presented in the prompt. However, given the…

Large pre-trained sequence models, such as transformers, excel as few-shot learners capable of in-context learning (ICL). In ICL, a model is trained to adapt its operation to a new task based on limited contextual information, typically in…

Large language models (LLMs) have demonstrated impressive few-shot in-context learning (ICL) abilities. Still, we show that they are sometimes prone to a `copying bias', where they copy answers from provided examples instead of learning the…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

Behavioural cloning is an imitation learning technique that teaches an agent how to behave via expert demonstrations. Recent approaches use self-supervision of fully-observable unlabelled snapshots of the states to decode state pairs into…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

The field of motion prediction for automated driving has seen tremendous progress recently, bearing ever-more mighty neural network architectures. Leveraging these powerful models bears great potential for the closely related planning task.…

Making safe and human-like decisions is an essential capability of autonomous driving systems, and learning-based behavior planning presents a promising pathway toward achieving this objective. Distinguished from existing learning-based…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

Goal-conditioned reinforcement learning (RL) can solve tasks in a wide range of domains, including navigation and manipulation, but learning to reach distant goals remains a central challenge to the field. Learning to reach such goals is…

In-context learning, where pre-trained language models learn to perform tasks from task examples and instructions in their contexts, has attracted much attention in the NLP community. However, the ability of in-context learning is not fully…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

In this work, we explore the mechanism of in-context learning (ICL) on out-of-distribution (OOD) tasks that were not encountered during training. To achieve this, we conduct synthetic experiments where the objective is to learn OOD…

One of the common ways children learn is by mimicking adults. Imitation learning focuses on learning policies with suitable performance from demonstrations generated by an expert, with an unspecified performance measure, and unobserved…

We study in-context learning (ICL) of linear regression in a deep linear self-attention model, characterizing how performance depends on various computational and statistical resources (width, depth, number of training steps, batch size and…

We argue that in-context learning (ICL) predictably arises from standard self-supervised next-token pretraining, rather than being an exotic emergent property. This work establishes the foundational principles of this emergence by focusing…

Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…

Inspired by animal navigation strategies, we introduce a novel computational model to navigate and map a space rooted in biologically inspired principles. Animals exhibit extraordinary navigation prowess, harnessing memory, imagination, and…

When facing the problem of autonomously learning multiple tasks with reinforcement learning systems, researchers typically focus on solutions where just one parametrised policy per task is sufficient to solve them. However, in complex…

The continual evolution of autonomous driving technology requires car-following models that can adapt to diverse and dynamic traffic environments. Traditional learning-based models often suffer from performance degradation when encountering…