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

The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleoperation. However, demonstrations for contact-rich manipulation…

Capturing and simulating intelligent adaptive behaviours within spatially explicit individual-based models remains an ongoing challenge for researchers. While an ever-increasing abundance of real-world behavioural data are collected, few…

Pretrained imitation policies have become a strong foundation for robot manipulation, but they often require online improvement to overcome execution errors, limited dataset coverage, and deployment mismatch. A central question is therefore…

Despite recent progress in Reinforcement Learning for robotics applications, many tasks remain prohibitively difficult to solve because of the expensive interaction cost. Transfer learning helps reduce the training time in the target domain…

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…

Behavioral cloning (BC) can recover a good policy from abundant expert data, but may fail when expert data is insufficient. This paper considers a situation where, besides the small amount of expert data, a supplementary dataset is…

Robot learning tasks are extremely compute-intensive and hardware-specific. Thus the avenues of tackling these challenges, using a diverse dataset of offline demonstrations that can be used to train robot manipulation agents, is very…

Reinforcement Learning has emerged as a strong alternative to solve optimization tasks efficiently. The use of these algorithms highly depends on the feedback signals provided by the environment in charge of informing about how good (or…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…

Contextual policy search allows adapting robotic movement primitives to different situations. For instance, a locomotion primitive might be adapted to different terrain inclinations or desired walking speeds. Such an adaptation is often…

We describe MELEE, a meta-learning algorithm for learning a good exploration policy in the interactive contextual bandit setting. Here, an algorithm must take actions based on contexts, and learn based only on a reward signal from the…

Imitation learning is a proven method for creating a policy in the absence of rewards, by leveraging expert demonstrations. In this work, we apply imitation learning to conversation. In doing so, we recover a policy capable of talking to a…

Learned path planners have attracted research interest due to their ability to model human driving behavior and rapid inference. Recent works on behavioral cloning show that simple imitation of expert observations is not sufficient to…

We study the use of inverse reinforcement learning (IRL) as a tool for the recognition of agents' behavior on the basis of observation of their sequential decision behavior interacting with the environment. We model the problem faced by the…

Advances in deep generative modeling have made it increasingly plausible to train human-level embodied agents. Yet progress has been limited by the absence of large-scale, real-time, multi-modal, and socially interactive datasets that…

Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC suffers from an inherent generalization issue. To solve…

In a search and rescue scenario, rescuers may have different knowledge of the environment and strategies for exploration. Understanding what is inside a rescuer's mind will enable an observer agent to proactively assist them with critical…

Zero-shot imitation learning algorithms hold the promise of reproducing unseen behavior from as little as a single demonstration at test time. Existing practical approaches view the expert demonstration as a sequence of goals, enabling…

Imitation learning can reproduce policies by observing experts, which poses a problem regarding policy privacy. Policies, such as human, or policies on deployed robots, can all be cloned without consent from the owners. How can we protect…

We aim to develop a goal specification method that is semantically clear, spatially sensitive, domain-agnostic, and intuitive for human users to guide agent interactions in 3D environments. Specifically, we propose a novel cross-view goal…