相关论文: Data Quality in Imitation Learning

Modern computer vision foundation models are trained on massive amounts of data, incurring large economic and environmental costs. Recent research has suggested that improving data quality can significantly reduce the need for data…

Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the…

Traditional scaling laws in natural language processing suggest that increasing model size and training data enhances performance. However, recent studies reveal deviations, particularly in large language models, where performance…

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…

The performance of machine learning models relies heavily on the quality of input data, yet real-world applications often face significant data-related challenges. A common issue arises when curating training data or deploying models: two…

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…

We address the challenge of learning safe and robust decision policies in presence of uncertainty in context of the real scientific problem of adaptive resource oversubscription to enhance resource efficiency while ensuring safety against…

A long-standing goal in robot learning is to develop methods for robots to acquire new skills autonomously. While reinforcement learning (RL) comes with the promise of enabling autonomous data collection, it remains challenging to scale in…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

Recent work by Jarrett et al. attempts to frame the problem of offline imitation learning (IL) as one of learning a joint energy-based model, with the hope of out-performing standard behavioral cloning. We suggest that notational issues…

Quantification is the supervised learning task that consists of training predictors of the class prevalence values of sets of unlabelled data, and is of special interest when the labelled data on which the predictor has been trained and the…

Finetuning large language models on instruction data is crucial for enhancing pre-trained knowledge and improving instruction-following capabilities. As instruction datasets proliferate, selecting optimal data for effective training becomes…

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…

Training machine learning models from data with weak supervision and dataset shifts is still challenging. Designing algorithms when these two situations arise has not been explored much, and existing algorithms cannot always handle the most…

Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to…

A common assumption exists according to which machine learning models improve their performance when they have more data to learn from. In this study, the authors wished to clarify the dilemma by performing an empirical experiment utilizing…

Activity classification has observed great success recently. The performance on small dataset is almost saturated and people are moving towards larger datasets. What leads to the performance gain on the model and what the model has learnt?…

In-context learning (ICL) enables large language models (LLMs) to perform new tasks by prompting them with a sequence of training examples. However, it is known that ICL is very sensitive to the choice of training examples: randomly…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

While imitation learning (IL) has achieved impressive success in dexterous manipulation through generative modeling and pretraining, state-of-the-art approaches like Vision-Language-Action (VLA) models still struggle with adaptation to…