相关论文: IIFL: Implicit Interactive Fleet Learning from Het…

Imitation Learning (IL) is a natural way for humans to teach robots, particularly when high-quality demonstrations are easy to obtain. While IL has been widely applied to single-robot settings, relatively few studies have addressed the…

Imitation learning is a class of promising policy learning algorithms that is free from many practical issues with reinforcement learning, such as the reward design issue and the exploration hardness. However, the current imitation…

Federated learning (FL) is an emerging distributed machine learning paradigm that enables collaborative training of machine learning models over decentralized devices without exposing their local data. One of the major challenges in FL is…

Federated learning involves training machine learning models over devices or data silos, such as edge processors or data warehouses, while keeping the data local. Training in heterogeneous and potentially massive networks introduces bias…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

In this paper we address imbalanced binary classification (IBC) tasks. Applying resampling strategies to balance the class distribution of training instances is a common approach to tackle these problems. Many state-of-the-art methods find…

Interactive Imitation Learning (IIL) typically relies on extensive human involvement for both offline demonstration and online interaction. Prior work primarily focuses on reducing human effort in passive monitoring rather than active…

Imitation learning (IL) aims to mimic the behavior of an expert in a sequential decision making task by learning from demonstrations, and has been widely applied to robotics, autonomous driving, and autoregressive text generation. The…

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…

This paper introduces a novel perspective about error in machine learning and proposes inverse feature learning (IFL) as a representation learning approach that learns a set of high-level features based on the representation of error for…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

Large language models (LLMs) have demonstrated remarkable capabilities in various tasks. However, their suitability for domain-specific tasks, is limited due to their immense scale at deployment, susceptibility to misinformation, and more…

Assigning repetitive and physically-demanding construction tasks to robots can alleviate human workers's exposure to occupational injuries. Transferring necessary dexterous and adaptive artisanal construction craft skills from workers to…

We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly used explicit models. We present extensive experiments on…

We present the problem of inverse constraint learning (ICL), which recovers constraints from demonstrations to autonomously reproduce constrained skills in new scenarios. However, ICL suffers from an ill-posed nature, leading to inaccurate…

Federated Learning (FL) is a method of training machine learning models on private data distributed over a large number of possibly heterogeneous clients such as mobile phones and IoT devices. In this work, we propose a new federated…

Implementing intelligent control of robots is a difficult task, especially when dealing with complex black-box systems, because of the lack of visibility and understanding of how these robots work internally. This paper proposes an…

In many settings, it is desirable to learn decision-making and control policies through learning or bootstrapping from expert demonstrations. The most common approaches under this Imitation Learning (IL) framework are Behavioural Cloning…

Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics…

In this work, we introduce a novel paradigm for generalized In-Context Learning (ICL), termed Indirect In-Context Learning. In Indirect ICL, we explore demonstration selection strategies tailored for two distinct real-world scenarios:…