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

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects…

Some imitation learning methods combine behavioural cloning with self-supervision to infer actions from state pairs. However, most rely on a large number of expert trajectories to increase generalisation and human intervention to capture…

Autonomous driving in multi-agent dynamic traffic scenarios is challenging: the behaviors of road users are uncertain and are hard to model explicitly, and the ego-vehicle should apply complicated negotiation skills with them, such as…

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training…

Recent advances in large language models (LLMs) have shown that Chain-of-Thought (CoT) reasoning can substantially improve performance on complex reasoning tasks. At the same time, In-Context Learning (ICL) has become an important mechanism…

Goal-conditioned reinforcement learning endows an agent with a large variety of skills, but it often struggles to solve tasks that require more temporally extended reasoning. In this work, we propose to incorporate imagined subgoals into…

The predictions of Large Language Models (LLMs) on downstream tasks often improve significantly when including examples of the input--label relationship in the context. However, there is currently no consensus about how this in-context…

The ability to forecast human-environment collisions from egocentric observations is vital to enable collision avoidance in applications such as VR, AR, and wearable assistive robotics. In this work, we introduce the challenging problem of…

Imitation learning is the problem of recovering an expert policy without access to a reward signal. Behavior cloning and GAIL are two widely used methods for performing imitation learning. Behavior cloning converges in a few iterations but…

We address the problem of path-planning for an autonomous mobile vehicle, called the ego vehicle, in an unknown andtime-varying environment. The objective is for the ego vehicle to minimize exposure to a spatiotemporally-varying unknown…

In this paper, we continue our prior work on using imitation learning (IL) and model free reinforcement learning (RL) to learn driving policies for autonomous driving in urban scenarios, by introducing a model based RL method to drive the…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios like autonomous driving, noncontrollable dynamics that are independent or sparsely dependent on action signals often exist,…

Large pre-trained sequence models, such as transformer-based architectures, have been recently shown to have the capacity to carry out in-context learning (ICL). In ICL, a decision on a new input is made via a direct mapping of the input…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to covariate shift and compounding errors when deployed in real-world, closed-loop settings. Furthermore, relying on static datasets or…

In-context learning (ICL) allows some autoregressive models to solve tasks via next-token prediction and without needing further training. This has led to claims about these model's ability to solve (learn) unseen tasks with only a few…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…