相关论文: Behavioural Cloning in VizDoom

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

In this paper we apply Deep Reinforcement Learning (Deep RL) and Domain Randomization to solve a navigation task in a natural environment relying solely on a 2D laser scanner. We train a model-based RL agent in simulation to follow lake and…

This paper proposes Self-Imitation Learning (SIL), a simple off-policy actor-critic algorithm that learns to reproduce the agent's past good decisions. This algorithm is designed to verify our hypothesis that exploiting past good…

Training deep reinforcement learning agents complex behaviors in 3D virtual environments requires significant computational resources. This is especially true in environments with high degrees of aliasing, where many states share nearly…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…

Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distributional shift by interacting with oracular experts.…

Interactive Imitation Learning (IIL) is a branch of Imitation Learning (IL) where human feedback is provided intermittently during robot execution allowing an online improvement of the robot's behavior. In recent years, IIL has increasingly…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

This paper describes an AI agent that plays the popular first-person-shooter (FPS) video game `Counter-Strike; Global Offensive' (CSGO) from pixel input. The agent, a deep neural network, matches the performance of the medium difficulty…

Deep reinforcement learning (RL) algorithms are powerful tools for solving visuomotor decision tasks. However, the trained models are often difficult to interpret, because they are represented as end-to-end deep neural networks. In this…

Reinforcement learning (RL) makes it possible to train agents capable of achieving sophisticated goals in complex and uncertain environments. A key difficulty in reinforcement learning is specifying a reward function for the agent to…

This work proposes a novel model-free Reinforcement Learning (RL) agent that is able to learn how to complete an unknown task having access to only a part of the input observation. We take inspiration from the concepts of visual attention…

The increasing complexity of gameplay mechanisms in modern video games is leading to the emergence of a wider range of ways to play games. The variety of possible play-styles needs to be anticipated by designers, through automated tests.…

In 2015, Google's DeepMind announced an advancement in creating an autonomous agent based on deep reinforcement learning (DRL) that could beat a professional player in a series of 49 Atari games. However, the current manifestation of DRL is…

Interactive Fiction games (IF games) are where players interact through natural language commands. While recent advances in Artificial Intelligence agents have reignited interest in IF games as a domain for studying decision-making,…

Innate values describe agents' intrinsic motivations, which reflect their inherent interests and preferences for pursuing goals and drive them to develop diverse skills that satisfy their various needs. Traditional reinforcement learning…

Learning-based methods have enabled robots to acquire bio-inspired movements with increasing levels of naturalness and adaptability. Among these, Imitation Learning (IL) has proven effective in transferring complex motion patterns from…

Reinforcement Learning is an area of Machine Learning focused on how agents can be trained to make sequential decisions, and achieve a particular goal within an arbitrary environment. While learning, they repeatedly take actions based on…