相关论文: Data Quality in Imitation Learning

Data scaling has revolutionized fields like natural language processing and computer vision, providing models with remarkable generalization capabilities. In this paper, we investigate whether similar data scaling laws exist in robotics,…

Robust validation of Machine Learning (ML) models is essential, but traditional data partitioning approaches often ignore the intrinsic quality of each instance. This study proposes the use of Item Response Theory (IRT) parameters to…

In the universal quest to optimize machine-learning classifiers, three factors -- model architecture, dataset size, and class balance -- have been shown to influence test-time performance but do not fully account for it. Previously,…

Data capture and use is vital for the continuous improvement of both student learning and behavior management. Previous studies on data use in the education sector have highlighted a number of problems associated with data quality and its…

Large-scale models are pretrained on massive web-crawled datasets containing documents of mixed quality, making data filtering essential. A popular method is Classifier-based Quality Filtering (CQF), which trains a binary classifier to…

Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action…

Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist robot policies. However, while these policies achieve strong mean performance across a variety of tasks, they often underperform on…

A key challenge in Imitation Learning (IL) is that optimal state actions demonstrations are difficult for the teacher to provide. For example in robotics, providing kinesthetic demonstrations on a robotic manipulator requires the teacher to…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Imitation learning holds the promise of equipping robots with versatile skills by learning from expert demonstrations. However, policies trained on finite datasets often struggle to generalize beyond the training distribution. In this work,…

The problem of model collapse has presented new challenges in iterative training of generative models, where such training with synthetic data leads to an overall degradation of performance. This paper looks at the problem from a…

High-quality data is crucial for the pre-training performance of large language models. Unfortunately, existing quality filtering methods rely on a known high-quality dataset as reference, which can introduce potential bias and compromise…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

Poor data quality limits the advantageous power of Machine Learning (ML) and weakens high-performing ML software systems. Nowadays, data are more prone to the risk of poor quality due to their increasing volume and complexity. Therefore,…

Precise perception of the environment is essential in highly automated driving systems, which rely on machine learning tasks such as object detection and segmentation. Compression of sensor data is commonly used for data handling, while…

Imitation learning (IL) aims to learn a policy from expert demonstrations and has been applied to various applications. By learning from the expert policy, IL methods do not require environmental interactions or reward signals. However,…

Large language models (LLMs) are increasingly used in the creation of online content, creating feedback loops as subsequent generations of models will be trained on this synthetic data. Such loops were shown to lead to distribution shifts -…

The use of learning-based techniques to achieve automated software vulnerability detection has been of longstanding interest within the software security domain. These data-driven solutions are enabled by large software vulnerability…

Continual learning is the problem of learning and retaining knowledge through time over multiple tasks and environments. Research has primarily focused on the incremental classification setting, where new tasks/classes are added at discrete…

We might hope that when faced with unexpected inputs, well-designed software systems would fire off warnings. Machine learning (ML) systems, however, which depend strongly on properties of their inputs (e.g. the i.i.d. assumption), tend to…