相关论文: Behavioral Cloning via Search in Embedded Demonstr…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Behavior cloning is a fundamental paradigm in machine learning, enabling policy learning from expert demonstrations across robotics, autonomous driving, and generative models. Autoregressive models like transformer have proven remarkably…

Enhancing AI systems with efficient communication skills for effective human assistance necessitates proactive initiatives from the system side to discern specific circumstances and interact aptly. This research focuses on a collective…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Active learning agents typically employ a query selection algorithm which solely considers the agent's learning objectives. However, this may be insufficient in more realistic human domains. This work uses imitation learning to enable an…

Locating a target based on auditory and visual cues$\unicode{x2013}$such as finding a car in a crowded parking lot or identifying a speaker in a virtual meeting$\unicode{x2013}$requires balancing effort, time, and accuracy under…

In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…

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…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

While behavior learning has made impressive progress in recent times, it lags behind computer vision and natural language processing due to its inability to leverage large, human-generated datasets. Human behaviors have wide variance,…

Behavior Cloning (BC) is a widely adopted visual imitation learning method in robot manipulation. Current BC approaches often enhance generalization by leveraging large datasets and incorporating additional visual and textual modalities to…

We study the problem of learning a good search policy for combinatorial search spaces. We propose retrospective imitation learning, which, after initial training by an expert, improves itself by learning from \textit{retrospective…

One of the key challenges in visual imitation learning is collecting large amounts of expert demonstrations for a given task. While methods for collecting human demonstrations are becoming easier with teleoperation methods and the use of…

In this work, we use optimal control to change the behavior of a deep reinforcement learning policy by optimizing directly in the policy's latent space. We hypothesize that distinct behavioral patterns, termed behavioral modes, can be…

Demonstrations provide insight into relevant state or action space regions, bearing great potential to boost the efficiency and practicality of reinforcement learning agents. In this work, we propose to leverage demonstration datasets by…

Deep reinforcement learning has been successfully applied to several visual-input tasks using model-free methods. In this paper, we propose a model-based approach that combines learning a DNN-based transition model with Monte Carlo tree…

Robotic control policies learned from human demonstrations have achieved impressive results in many real-world applications. However, in scenarios where initial performance is not satisfactory, as is often the case in novel open-world…

In this paper, we study an inverse reinforcement learning problem that involves learning the reward function of a learning agent using trajectory data collected while this agent is learning its optimal policy. To address this problem, we…

Behavior Cloning (BC) is an effective imitation learning technique and has even been adopted in some safety-critical domains such as autonomous vehicles. BC trains a policy to mimic the behavior of an expert by using a dataset composed of…