相关论文: SeMAIL: Eliminating Distractors in Visual Imitatio…

Long video understanding presents challenges due to the inherent high computational complexity and redundant temporal information. An effective representation for long videos must efficiently process such redundancy while preserving…

Generative models have made it possible to synthesize highly realistic images, potentially providing an abundant data source for training machine learning models. Despite the advantages of these synthesizable data sources, the…

Recent advancements in Model-Based Reinforcement Learning (MBRL) have made it a powerful tool for visual control tasks. Despite improved data efficiency, it remains challenging to train MBRL agents with generalizable perception. Training in…

New categories may be introduced over time, or existing categories may need to be reclassified. Class incremental learning (CIL) is employed for the gradual acquisition of knowledge about new categories while preserving information about…

We study online adversarial imitation learning (AIL), where an agent learns from offline expert demonstrations and interacts with the environment online without access to rewards. Despite strong empirical results, the benefits of online…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

Multiple instance learning (MIL) has become the leading approach for extracting discriminative features from whole slide images (WSIs) in computational pathology. Attention-based MIL methods can identify key patches but tend to overlook…

We present Bayesian Team Imitation Learner (BTIL), an imitation learning algorithm to model the behavior of teams performing sequential tasks in Markovian domains. In contrast to existing multi-agent imitation learning techniques, BTIL…

Sample efficiency is critical in solving real-world reinforcement learning problems, where agent-environment interactions can be costly. Imitation learning from expert advice has proved to be an effective strategy for reducing the number of…

In the search for more sample-efficient reinforcement-learning (RL) algorithms, a promising direction is to leverage as much external off-policy data as possible. For instance, expert demonstrations. In the past, multiple ideas have been…

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…

Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new…

Apprenticeship learning has recently attracted a wide attention due to its capability of allowing robots to learn physical tasks directly from demonstrations provided by human experts. Most previous techniques assumed that the state space…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

Imitation learning aims to solve the problem of defining reward functions in real-world decision-making tasks. The current popular approach is the Adversarial Imitation Learning (AIL) framework, which matches expert state-action occupancy…

Multi-agent reinforcement learning (MARL) methods often suffer from high sample complexity, limiting their use in real-world problems where data is sparse or expensive to collect. Although latent-variable world models have been employed to…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

Imitation Learning (IL) methods seek to match the behavior of an agent with that of an expert. In the present work, we propose a new IL method based on a conceptually simple algorithm: Primal Wasserstein Imitation Learning (PWIL), which…