相关论文: Zero-Shot Transfer in Imitation Learning

In this paper, we propose a new solution to reward adaptation (RA) in reinforcement learning, where the agent adapts to a target reward function based on one or more existing source behaviors learned a priori under the same domain dynamics…

Availability of labelled data is the major obstacle to the deployment of deep learning algorithms for computer vision tasks in new domains. The fact that many frameworks adopted to solve different tasks share the same architecture suggests…

In offline Imitation Learning (IL), one of the main challenges is the \textit{covariate shift} between the expert observations and the actual distribution encountered by the agent, because it is difficult to determine what action an agent…

Most visual recognition methods implicitly assume the data distribution remains unchanged from training to testing. However, in practice domain shift often exists, where real-world factors such as lighting and sensor type change between…

Offline Reinforcement Learning (RL) aims to learn effective policies from a static dataset without requiring further agent-environment interactions. However, its practical adoption is often hindered by the need for explicit reward…

Reinforcement learning (RL) policies often fail to generalize to new robots, tasks, or environments with different physical parameters, a challenge that limits their real-world applicability. This paper presents a simple, zero-shot transfer…

Deep reinforcement learning (RL) algorithms have achieved great success on a wide variety of sequential decision-making tasks. However, many of these algorithms suffer from high sample complexity when learning from scratch using…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

In this paper, We Apply Reinforcement learning (RL) techniques to train a realistic biomechanical model to work with different people and on different walking environments. We benchmarking 3 RL algorithms: Deep Deterministic Policy Gradient…

Intelligent agents should be able to learn useful representations by observing changes in their environment. We model such observations as pairs of non-i.i.d. images sharing at least one of the underlying factors of variation. First, we…

The effective application of representation learning to real-world problems requires both techniques for learning useful representations, and also robust ways to evaluate properties of representations. Recent work in disentangled…

We present a novel and unified deep learning framework which is capable of learning domain-invariant representation from data across multiple domains. Realized by adversarial training with additional ability to exploit domain-specific…

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…

Cross-domain disentanglement is the problem of learning representations partitioned into domain-invariant and domain-specific representations, which is a key to successful domain transfer or measuring semantic distance between two domains.…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

Zero-Shot Learning (ZSL) aims to classify a test instance from an unseen category based on the training instances from seen categories, in which the gap between seen categories and unseen categories is generally bridged via visual-semantic…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

We present a deep generative model for learning to predict classes not seen at training time. Unlike most existing methods for this problem, that represent each class as a point (via a semantic embedding), we represent each seen/unseen…

Zero-shot learning (ZSL) aims to transfer knowledge from seen classes to unseen ones so that the latter can be recognised without any training samples. This is made possible by learning a projection function between a feature space and a…

Imitation learning (IL) enables agents to acquire skills directly from expert demonstrations, providing a compelling alternative to reinforcement learning. However, prior online IL approaches struggle with complex tasks characterized by…