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

Offline reinforcement learning (RL) enables policy optimization using static datasets, avoiding the risks and costs of extensive real-world exploration. However, it struggles with suboptimal offline behaviors and inaccurate value estimation…

Learning from demonstrations is a useful way to transfer a skill from one agent to another. While most imitation learning methods aim to mimic an expert skill by following the demonstration step-by-step, imitating every step in the…

Imitation from observation (IfO) is the problem of learning directly from state-only demonstrations without having access to the demonstrator's actions. The lack of action information both distinguishes IfO from most of the literature in…

We study value adaptation in offline-to-online reinforcement learning under general function approximation. Starting from an imperfect offline pretrained $Q$-function, the learner aims to adapt it to the target environment using only a…

In this technical report, we introduce our solution to human-centric spatio-temporal video grounding task. We propose a concise and effective framework named STVGFormer, which models spatiotemporal visual-linguistic dependencies with a…

We present an algorithm for Inverse Reinforcement Learning (IRL) from expert state observations only. Our approach decouples reward modelling from policy learning, unlike state-of-the-art adversarial methods which require updating the…

Offline-to-online (O2O) reinforcement learning (RL) pre-trains models on offline data and refines policies through online fine-tuning. However, existing O2O RL algorithms typically require maintaining the tedious offline datasets to…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

We consider the hybrid reinforcement learning setting where the agent has access to both offline data and online interactive access. While Reinforcement Learning (RL) research typically assumes offline data contains complete action, reward…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…

Imitation Learning from Observation (IfO) offers a powerful way to learn behaviors at large-scale: Unlike behavior cloning or offline reinforcement learning, IfO can leverage action-free demonstrations and thus circumvents the need for…

Learning procedural-aware video representations is a key step towards building agents that can reason about and execute complex tasks. Existing methods typically address this problem by aligning visual content with textual descriptions at…

Object goal navigation aims to steer an agent towards a target object based on observations of the agent. It is of pivotal importance to design effective visual representations of the observed scene in determining navigation actions. In…

Observational learning requires an agent to learn to perform a task by referencing only observations of the performed task. This work investigates the equivalent setting in real-world robot learning where access to hand-designed rewards and…

Offline reinforcement learning (RL) has emerged as a promising framework for addressing robot social navigation challenges. However, inherent uncertainties in pedestrian behavior and limited environmental interaction during training often…

Model-based offline reinforcement Learning (RL) is a promising approach that leverages existing data effectively in many real-world applications, especially those involving high-dimensional inputs like images and videos. To alleviate the…

Interacting with the actual environment to acquire data is often costly and time-consuming in robotic tasks. Model-based offline reinforcement learning (RL) provides a feasible solution. On the one hand, it eliminates the requirements of…

Batch offline data have been shown considerably beneficial for reinforcement learning. Their benefit is further amplified by upsampling with generative models. In this paper, we consider a novel opportunity where interaction with…

We develop online graph learning algorithms from streaming network data. Our goal is to track the (possibly) time-varying network topology, and effect memory and computational savings by processing the data on-the-fly as they are acquired.…

Model-based reinforcement learning (RL) methods are appealing in the offline setting because they allow an agent to reason about the consequences of actions without interacting with the environment. Prior methods learn a 1-step dynamics…