相关论文: Learning from Visual Observation via Offline Pretr…

State-of-the-art imitation learning from observation methods (ILfO) have recently made significant progress, but they still have some limitations: they need action-based supervised optimisation, assume that states have a single optimal…

Learning from observation (LfO) aims to imitate experts by learning from state-only demonstrations without requiring action labels. Existing adversarial imitation learning approaches learn a generator agent policy to produce state…

Reinforcement Learning (RL) can be considered as a sequence modeling task: given a sequence of past state-action-reward experiences, an agent predicts a sequence of next actions. In this work, we propose State-Action-Reward Transformer…

Offline reinforcement learning has shown great promise in leveraging large pre-collected datasets for policy learning, allowing agents to forgo often-expensive online data collection. However, offline reinforcement learning from visual…

The deployment of Reinforcement Learning to robotics applications faces the difficulty of reward engineering. Therefore, approaches have focused on creating reward functions by Learning from Observations (LfO) which is the task of learning…

Learning from Observations (LfO) is a practical reinforcement learning scenario from which many applications can benefit through the reuse of incomplete resources. Compared to conventional imitation learning (IL), LfO is more challenging…

Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its…

We study a new paradigm for sequential decision making, called offline policy learning from observations (PLfO). Offline PLfO aims to learn policies using datasets with substandard qualities: 1) only a subset of trajectories is labeled with…

The imitation learning research community has recently made significant progress towards the goal of enabling artificial agents to imitate behaviors from video demonstrations alone. However, current state-of-the-art approaches developed for…

How should we learn visual representations for embodied agents that must see and move? The status quo is tabula rasa in vivo, i.e. learning visual representations from scratch while also learning to move, potentially augmented with…

The in-context learning ability of Transformer models has brought new possibilities to visual navigation. In this paper, we focus on the video navigation setting, where an in-context navigation policy needs to be learned purely from videos…

The learn-from-observation (LfO) paradigm is a human-inspired mode for a robot to learn to perform a task simply by watching it being performed. LfO can facilitate robot integration on factory floors by minimizing disruption and reducing…

Offline reinforcement learning provides a viable approach to obtain advanced control strategies for dynamical systems, in particular when direct interaction with the environment is not available. In this paper, we introduce a conceptual…

Imitation Learning from Observation (ILfO) is a setting in which a learner tries to imitate the behavior of an expert, using only observational data and without the direct guidance of demonstrated actions. In this paper, we re-examine…

We consider the problem of learning from observation (LfO), in which the agent aims to mimic the expert's behavior from the state-only demonstrations by experts. We additionally assume that the agent cannot interact with the environment but…

Imitation Learning (IL) algorithms offer an efficient way to train an agent by mimicking an expert's behavior without requiring a reward function. IL algorithms often necessitate access to state and action information from expert…

Offline reinforcement learning (RL) refers to the problem of learning policies from a static dataset of environment interactions. Offline RL enables extensive use and re-use of historical datasets, while also alleviating safety concerns…

In offline reinforcement learning (RL) an optimal policy is learned solely from a priori collected observational data. However, in observational data, actions are often confounded by unobserved variables. Instrumental variables (IVs), in…

Learning policies from high-dimensional visual inputs, such as pixels and point clouds, is crucial in various applications. Visual reinforcement learning is a promising approach that directly trains policies from visual observations,…

Imitation Learning from observation describes policy learning in a similar way to human learning. An agent's policy is trained by observing an expert performing a task. While many state-only imitation learning approaches are based on…