相关论文: Is Imitation All You Need? Generalized Decision-Ma…

While neural machine translation (NMT) is making good progress in the past two years, tens of millions of bilingual sentence pairs are needed for its training. However, human labeling is very costly. To tackle this training data bottleneck,…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

Large Multimodal Models (LMMs) exhibit remarkable multi-tasking ability by learning mixed instruction datasets. However, novel tasks would be encountered sequentially in dynamic world, which urges for equipping LMMs with multimodal…

In imitation learning, imitators and demonstrators are policies for picking actions given past interactions with the environment. If we run an imitator, we probably want events to unfold similarly to the way they would have if the…

In this work we describe a novel deep reinforcement learning architecture that allows multiple actions to be selected at every time-step in an efficient manner. Multi-action policies allow complex behaviours to be learnt that would…

The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

In this paper, we introduce a discrete variant of the meta-learning framework. Meta-learning aims at exploiting prior experience and data to improve performance on future tasks. By now, there exist numerous formulations for meta-learning in…

Person re-identification (Re-ID) models usually show a limited performance when they are trained on one dataset and tested on another dataset due to the inter-dataset bias (e.g. completely different identities and backgrounds) and the…

Generalization in deep reinforcement learning over unseen environment variations usually requires policy learning over a large set of diverse training variations. We empirically observe that an agent trained on many variations (a…

Dual learning has been successfully applied in many machine learning applications including machine translation, image-to-image transformation, etc. The high-level idea of dual learning is very intuitive: if we map an $x$ from one domain to…

Humans intuitively solve tasks in versatile ways, varying their behavior in terms of trajectory-based planning and for individual steps. Thus, they can easily generalize and adapt to new and changing environments. Current Imitation Learning…

Recent deep learning models can efficiently combine inputs from different modalities (e.g., images and text) and learn to align their latent representations, or to translate signals from one domain to another (as in image captioning, or…

Understanding, predicting, and learning from other people's actions are fundamental human social-cognitive skills. Little is known about how and when we consider other's actions and outcomes when making our own decisions. We developed a…

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…

In recent years, audio-driven 3D facial animation has gained significant attention, particularly in applications such as virtual reality, gaming, and video conferencing. However, accurately modeling the intricate and subtle dynamics of…

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging.…

We present a novel autonomous driving framework, DualAD, designed to imitate human reasoning during driving. DualAD comprises two layers: a rule-based motion planner at the bottom layer that handles routine driving tasks requiring minimal…

Humans have consciousness as the ability to perceive events and objects: a mental model of the world developed from the most impoverished of visual stimuli, enabling humans to make rapid decisions and take actions. Although spatial and…

Recently, empowered with the powerful capabilities of neural networks, reinforcement learning (RL) has successfully tackled numerous challenging tasks. However, while these models demonstrate enhanced decision-making abilities, they are…