相关论文: Optimally Teaching a Linear Behavior Cloning Agent

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

We study representation learning for efficient imitation learning over linear systems. In particular, we consider a setting where learning is split into two phases: (a) a pre-training step where a shared $k$-dimensional representation is…

A good teacher should not only be knowledgeable, but should also be able to communicate in a way that the student understands -- to share the student's representation of the world. In this work, we introduce a new controlled experimental…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

This work investigates multi-objective imitation learning: the problem of recovering policies that lie on the Pareto front given demonstrations from multiple Pareto-optimal experts in a Multi-Objective Markov Decision Process (MOMDP).…

Implicit generative models are difficult to train as no explicit density functions are defined. Generative adversarial nets (GANs) present a minimax framework to train such models, which however can suffer from mode collapse due to the…

We study the convergence behavior of the celebrated temporal-difference (TD) learning algorithm. By looking at the algorithm through the lens of optimization, we first argue that TD can be viewed as an iterative optimization algorithm where…

We study the problem of representation learning in goal-conditioned hierarchical reinforcement learning. In such hierarchical structures, a higher-level controller solves tasks by iteratively communicating goals which a lower-level policy…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

We investigate the task of learning to follow natural language instructions by jointly reasoning with visual observations and language inputs. In contrast to existing methods which start with learning from demonstrations (LfD) and then use…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

This article introduces an imitation learning method for learning maximum entropy policies that comply with constraints demonstrated by expert trajectories executing a task. The formulation of the method takes advantage of results…

We study an optimal intervention problem on the linear threshold model (LTM) in which a social planner aims to design minimal-cost interventions that modify the agents' thresholds, under the constraint that at least a predefined fraction of…

We propose an active learning algorithm for linear system identification with optimal centered noise excitation. Notably, our algorithm, based on ordinary least squares and semidefinite programming, attains the minimal sample complexity…

In imitation learning, it is common to learn a behavior policy to match an unknown target policy via max-likelihood training on a collected set of target demonstrations. In this work, we consider using offline experience datasets -…

Practical Imitation Learning (IL) systems rely on large human demonstration datasets for successful policy learning. However, challenges lie in maintaining the quality of collected data and addressing the suboptimal nature of some…

Machine teaching addresses the problem of finding the best training data that can guide a learning algorithm to a target model with minimal effort. In conventional settings, a teacher provides data that are consistent with the true data…

Humans excel in continuously learning with small data without forgetting how to solve old problems. However, neural networks require large datasets to compute latent representations across different tasks while minimizing a loss function.…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

Teaching plays a very important role in our society, by spreading human knowledge and educating our next generations. A good teacher will select appropriate teaching materials, impact suitable methodologies, and set up targeted…