相关论文: Policy Contrastive Imitation Learning

An inverse reinforcement learning (IRL) agent learns to act intelligently by observing expert demonstrations and learning the expert's underlying reward function. Although learning the reward functions from demonstrations has achieved great…

Class Incremental Learning (CIL) based on pre-trained models offers a promising direction for open-world continual learning. Existing methods typically rely on correlation-based strategies, where an image's classification feature is used as…

We identify two issues with the family of algorithms based on the Adversarial Imitation Learning framework. The first problem is implicit bias present in the reward functions used in these algorithms. While these biases might work well for…

Learning reward functions from data is a promising path towards achieving scalable Reinforcement Learning (RL) for robotics. However, a major challenge in training agents from learned reward models is that the agent can learn to exploit…

For an autonomous system to be helpful to humans and to pose no unwarranted risks, it needs to align its values with those of the humans in its environment in such a way that its actions contribute to the maximization of value for the…

Neural operators have recently grown in popularity as Partial Differential Equation (PDE) surrogate models. Learning solution functionals, rather than functions, has proven to be a powerful approach to calculate fast, accurate solutions to…

We introduce Contrastive Intrinsic Control (CIC), an algorithm for unsupervised skill discovery that maximizes the mutual information between state-transitions and latent skill vectors. CIC utilizes contrastive learning between…

Policy learning for delicate industrial insertion tasks (e.g., PC board assembly) is challenging. This paper considers two major problems: how to learn a diversified policy (instead of just one average policy) that can efficiently handle…

Contrastive Learning (CL) has been proved to be a powerful self-supervised approach for a wide range of domains, including computer vision and graph representation learning. However, the incremental learning issue of CL has rarely been…

Many tasks in practice require the collaboration of multiple agents through reinforcement learning. In general, cooperative multiagent reinforcement learning algorithms can be classified into two paradigms: Joint Action Learners (JALs) and…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

Our goal is for AI systems to correctly identify and act according to their human user's objectives. Cooperative Inverse Reinforcement Learning (CIRL) formalizes this value alignment problem as a two-player game between a human and robot,…

Reinforcement learning (RL) has proven to be a powerful tool for training agents that excel in various games. However, the black-box nature of neural network models often hinders our ability to understand the reasoning behind the agent's…

Class-Incremental Learning (CIL) aims to continuously acquire new categories while preserving previously learned knowledge. Recently, Contrastive Language-Image Pre-trained (CLIP) models have shown strong potential for CIL due to their…

Continual Imitation Learning (CiL) involves extracting and accumulating task knowledge from demonstrations across multiple stages and tasks to achieve a multi-task policy. With recent advancements in foundation models, there has been a…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

The difficulty in specifying rewards for many real-world problems has led to an increased focus on learning rewards from human feedback, such as demonstrations. However, there are often many different reward functions that explain the human…

Recent work has shown that, when integrated with adversarial training, self-supervised pre-training can lead to state-of-the-art robustness In this work, we improve robustness-aware self-supervised pre-training by learning representations…

Training a policy in a source domain for deployment in the target domain under a dynamics shift can be challenging, often resulting in performance degradation. Previous work tackles this challenge by training on the source domain with…

The offline datasets for imitation learning (IL) in multi-agent games typically contain player trajectories exhibiting diverse strategies, which necessitate measures to prevent learning algorithms from acquiring undesirable behaviors.…