相关论文: Invariant Causal Imitation Learning for Generaliza…

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…

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…

Imitation learning allows social robots to learn new skills from human teachers without substantial manual programming, but it is difficult for robotic imitation learning systems to generalize demonstrated skills as well as human learners…

Training a deep learning model with artificially generated data can be an alternative when training data are scarce, yet it suffers from poor generalization performance due to a large domain gap. In this paper, we characterize the domain…

Imitation learning aims to learn a policy from observing expert demonstrations without access to reward signals from environments. Generative adversarial imitation learning (GAIL) formulates imitation learning as adversarial learning,…

Recent work on imitation learning has generated policies that reproduce expert behavior from multi-modal data. However, past approaches have focused only on recreating a small number of distinct, expert maneuvers, or have relied on…

We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during execution. We investigate the effectiveness of the Continuity-based…

Improving generalization and achieving highly predictive, robust machine learning models necessitates learning the underlying causal structure of the variables of interest. A prominent and effective method for this is learning invariant…

Cross-domain imitation learning (CDIL) accelerates policy learning by transferring expert knowledge across domains, which is valuable in applications where the collection of expert data is costly. Existing methods are either supervised,…

Imitation Learning has provided a promising approach to learning complex robot behaviors from expert demonstrations. However, learned policies can make errors that lead to safety violations, which limits their deployment in safety-critical…

This paper concerns imitation learning (IL) (i.e, the problem of learning to mimic expert behaviors from demonstrations) in cooperative multi-agent systems. The learning problem under consideration poses several challenges, characterized by…

A key challenge in reinforcement learning (RL) is environment generalization: a policy trained to solve a task in one environment often fails to solve the same task in a slightly different test environment. A common approach to improve…

In-context learning (ICL) is the ability of a large language model (LLM) to learn a new task from a few demonstrations presented as part of the context. Past studies have attributed a large portion of the success of ICL to the way these…

A fundamental challenge in reinforcement learning is to learn policies that generalize beyond the operating domains experienced during training. In this paper, we approach this challenge through the following invariance principle: an agent…

Autonomous driving has achieved significant progress in recent years, but autonomous cars are still unable to tackle high-risk situations where a potential accident is likely. In such near-accident scenarios, even a minor change in the…

Imitation from observation is a computational technique that teaches an agent on how to mimic the behavior of an expert by observing only the sequence of states from the expert demonstrations. Recent approaches learn the inverse dynamics of…

In this paper we present a world model, which learns causal features using the invariance principle. In particular, we use contrastive unsupervised learning to learn the invariant causal features, which enforces invariance across…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Machine learning systems have been widely used to make decisions about individuals who may behave strategically to receive favorable outcomes, e.g., they may genuinely improve the true labels or manipulate observable features directly to…

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,…