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

Autonomous parking (AP) is an emering technique to navigate an intelligent vehicle to a parking space without any human intervention. Existing AP methods based on mathematical optimization or machine learning may lead to potential failures…

Consider learning an imitation policy on the basis of demonstrated behavior from multiple environments, with an eye towards deployment in an unseen environment. Since the observable features from each setting may be different, directly…

Microscopic traffic simulation plays a crucial role in transportation engineering by providing insights into individual vehicle behavior and overall traffic flow. However, creating a realistic simulator that accurately replicates human…

Autonomous navigation in crowded, complex urban environments requires interacting with other agents on the road. A common solution to this problem is to use a prediction model to guess the likely future actions of other agents. While this…

Imitation learning practitioners have often noted that conditioning policies on previous actions leads to a dramatic divergence between "held out" error and performance of the learner in situ. Interactive approaches can provably address…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control 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 methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the…

Implicit in-context learning (ICL) has newly emerged as a promising paradigm that simulates ICL behaviors in the representation space of Large Language Models (LLMs), aiming to attain few-shot performance at zero-shot cost. However,…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

The capability of predicting environmental dynamics underpins both biological neural systems and general embodied AI in adapting to their surroundings. Yet prevailing approaches rest on static world models that falter when confronted with…

In this paper, we present \textbf{C}ont\textbf{E}xtual \textbf{I}mitation \textbf{L}earning~(CEIL), a general and broadly applicable algorithm for imitation learning (IL). Inspired by the formulation of hindsight information matching, we…

This paper addresses imitation learning for motion prediction problem in autonomous driving, especially in multi-agent setting. Different from previous methods based on GAN, we present the conditional latent ordinary differential equation…

In-context learning (ICL) exhibits dual operating modes: task learning, i.e., acquiring a new skill from in-context samples, and task retrieval, i.e., locating and activating a relevant pretrained skill. Recent theoretical work investigates…

Imitation learning is a class of promising policy learning algorithms that is free from many practical issues with reinforcement learning, such as the reward design issue and the exploration hardness. However, the current imitation…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

Using Reinforcement Learning (RL) to learn new robotic tasks from scratch is often inefficient. Leveraging prior knowledge has the potential to significantly enhance learning efficiency, which, however, raises two critical challenges: how…

Cognitive control, the ability of a system to adapt to the demands of a task, is an integral part of cognition. A widely accepted fact about cognitive control is that it is context-sensitive: Adults and children alike infer information…