相关论文: Data Quality in Imitation Learning
Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…
A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…
Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time differ from those in the training data. A popular approach for…
A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…
Safely deploying machine learning models to the real world is often a challenging process. Models trained with data obtained from a specific geographic location tend to fail when queried with data obtained elsewhere, agents trained in a…
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…
In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…
Scaling the amount of data used for supervied fine-tuning(SFT) does not guarantee the proportional gains in model performance, highlighting a critical need to understand what makes training samples effective. This work identifies two…
Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…
Imitation Learning (IL) aims to discover a policy by minimizing the discrepancy between the agent's behavior and expert demonstrations. However, IL is susceptible to limitations imposed by noisy demonstrations from non-expert behaviors,…
We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…
Generative foundation models like Stable Diffusion comprise a diverse spectrum of knowledge in computer vision with the potential for transfer learning, e.g., via generating data to train student models for downstream tasks. This could…
Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses…
Data-centric AI is at the center of a fundamental shift in software engineering where machine learning becomes the new software, powered by big data and computing infrastructure. Here software engineering needs to be re-thought where data…
Data scaling has driven remarkable success in foundation models for Natural Language Processing (NLP) and Computer Vision (CV), yet the principles of effective data scaling in robotic manipulation remain insufficiently understood. In this…
In the midst of the rapid integration of artificial intelligence (AI) into real world applications, one pressing challenge we confront is the phenomenon of model drift, wherein the performance of AI models gradually degrades over time,…
Class-Incremental Learning (CIL) trains a model to continually recognize new classes from non-stationary data while retaining learned knowledge. A major challenge of CIL arises when applying to real-world data characterized by non-uniform…
Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…
There are many methods proposed for inferring parameters of the Ising model from given data, that is a set of configurations generated according to the model itself. However little attention has been paid until now to the data, e.g. how the…
Nowadays, people strive to improve the accuracy of deep learning models. However, very little work has focused on the quality of data sets. In fact, data quality determines model quality. Therefore, it is important for us to make research…