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

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

Model-based reinforcement learning (MBRL) is a promising route to sample-efficient policy optimization. However, a known vulnerability of reconstruction-based MBRL consists of scenarios in which detailed aspects of the world are highly…

In this paper, we consider the problem of autonomous driving using imitation learning in a semi-supervised manner. In particular, both labeled and unlabeled demonstrations are leveraged during training by estimating the quality of each…

Image-based Reinforcement Learning is known to suffer from poor sample efficiency and generalisation to unseen visuals such as distractors (task-independent aspects of the observation space). Visual domain randomisation encourages transfer…

Transfer learning from large-scale pre-trained models has become essential for many computer vision tasks. Recent studies have shown that datasets like ImageNet are weakly labeled since images with multiple object classes present are…

We consider model-based reinforcement learning (MBRL) in 2-agent, high-fidelity continuous control problems -- an important domain for robots interacting with other agents in the same workspace. For non-trivial dynamical systems, MBRL…

State-of-the-art (SOTA) anomaly segmentation approaches on complex urban driving scenes explore pixel-wise classification uncertainty learned from outlier exposure, or external reconstruction models. However, previous uncertainty approaches…

When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…

Recent learning-to-imitation methods have shown promising results in planning via imitating within the observation-action space. However, their ability in open environments remains constrained, particularly in long-horizon tasks. In…

The performance of multi-agent reinforcement learning (MARL) in partially observable environments depends on effectively aggregating information from observations, communications, and reward signals. While most existing multi-agent systems…

A new multi-attention based method for solving the MIL problem (MAMIL), which takes into account the neighboring patches or instances of each analyzed patch in a bag, is proposed. In the method, one of the attention modules takes into…

eXplanation Based Learning (XBL) is a form of Interactive Machine Learning (IML) that provides a model refining approach via user feedback collected on model explanations. Although the interactivity of XBL promotes model transparency, XBL…

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…

Sample efficiency has been a key issue in reinforcement learning (RL). An efficient agent must be able to leverage its prior experiences to quickly adapt to similar, but new tasks and situations. Meta-RL is one attempt at formalizing and…

In several supervised learning scenarios, auxiliary losses are used in order to introduce additional information or constraints into the supervised learning objective. For instance, knowledge distillation aims to mimic outputs of a powerful…

In many real-world visual Imitation Learning (IL) scenarios, there is a misalignment between the agent's and the expert's perspectives, which might lead to the failure of imitation. Previous methods have generally solved this problem by…

The task of infomin learning aims to learn a representation with high utility while being uninformative about a specified target, with the latter achieved by minimising the mutual information between the representation and the target. It…

Multi-view learning (MVL) has gained great success in integrating information from multiple perspectives of a dataset to improve downstream task performance. To make MVL methods more practical in an open-ended environment, this paper…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…