相关论文: Regularizing Adversarial Imitation Learning Using …

Agents trained via deep reinforcement learning (RL) routinely fail to generalize to unseen environments, even when these share the same underlying dynamics as the training levels. Understanding the generalization properties of RL is one of…

Network Embedding is the task of learning continuous node representations for networks, which has been shown effective in a variety of tasks such as link prediction and node classification. Most of existing works aim to preserve different…

Robot data collected in complex real-world scenarios are often biased due to safety concerns, human preferences, and mission or platform constraints. Consequently, robot learning from such observational data poses great challenges for…

Simplicity is a powerful inductive bias. In reinforcement learning, regularization is used for simpler policies, data augmentation for simpler representations, and sparse reward functions for simpler objectives, all that, with the…

Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…

Reinforcement learning agents are prone to undesired behaviors due to reward mis-specification. Finding a set of reward functions to properly guide agent behaviors is particularly challenging in multi-agent scenarios. Inverse reinforcement…

Data augmentation has been proven to be an effective technique for developing machine learning models that are robust to known classes of distributional shifts (e.g., rotations of images), and alignment regularization is a technique often…

Adversarial Imitation Learning (AIL) is a class of algorithms in Reinforcement learning (RL), which tries to imitate an expert without taking any reward from the environment and does not provide expert behavior directly to the policy…

Independently trained machine learning models tend to learn similar features. Given an ensemble of independently trained models, this results in correlated predictions and common failure modes. Previous attempts focusing on decorrelation of…

Adversarial examples are carefully crafted attack points that are supposed to fool machine learning classifiers. In the last years, the field of adversarial machine learning, especially the study of perturbation-based adversarial examples,…

Imitation of expert behaviour is a highly desirable and safe approach to the problem of sequential decision making. We provide an easy-to-implement, novel algorithm for imitation learning under a strict data paradigm, in which the agent…

We consider the challenge of finding a deterministic policy for a Markov decision process that uniformly (in all states) maximizes one reward subject to a probabilistic constraint over a different reward. Existing solutions do not fully…

Learning meaningful representations that maintain the content necessary for a particular task while filtering away detrimental variations is a problem of great interest in machine learning. In this paper, we tackle the problem of learning…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

Imitation learning is a way to teach robots skills that are demonstrated by humans. Transfering skills between these different kinematic structures seems to be straightforward in Cartesian space. Because of the correspondence problem,…

Variational regularization has remained one of the most successful approaches for reconstruction in imaging inverse problems for several decades. With the emergence and astonishing success of deep learning in recent years, a considerable…

In imitation learning from observation IfO, a learning agent seeks to imitate a demonstrating agent using only observations of the demonstrated behavior without access to the control signals generated by the demonstrator. Recent methods…

In this work, we introduce a new method for imitation learning from video demonstrations. Our method, Relational Mimic (RM), improves on previous visual imitation learning methods by combining generative adversarial networks and relational…

Recent methods for imitation learning directly learn a $Q$-function using an implicit reward formulation rather than an explicit reward function. However, these methods generally require implicit reward regularization to improve stability…

Times series classification can be successfully tackled by jointly learning a shapelet-based representation of the series in the dataset and classifying the series according to this representation. However, although the learned shapelets…