相关论文: Learning from Imperfect Demonstrations with Self-S…

Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…

We study reinforcement learning (RL) with no-reward demonstrations, a setting in which an RL agent has access to additional data from the interaction of other agents with the same environment. However, it has no access to the rewards or…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and…

Reinforcement learning (RL) in the real world necessitates the development of procedures that enable agents to explore without causing harm to themselves or others. The most successful solutions to the problem of safe RL leverage offline…

Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…

Among the biggest challenges we face in utilizing neural networks trained on waveform data (i.e., seismic, electromagnetic, or ultrasound) is its application to real data. The requirement for accurate labels forces us to develop solutions…

Imitation learning (IL) has seen remarkable progress, yet field deployment of IL-powered robots remains hindered by the challenge of out-of-distribution (OOD) scenarios. Fine-tuning pre-trained policies with end-user demonstrations…

Learning from Demonstration (LfD) is a well-established problem in Reinforcement Learning (RL), which aims to facilitate rapid RL by leveraging expert demonstrations to pre-train the RL agent. However, the limited availability of expert…

Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…

In recent years, imitation learning (IL) has been widely used in industry as the core of autonomous vehicle (AV) planning modules. However, previous IL works show sample inefficiency and low generalisation in safety-critical scenarios, on…

Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…

Robot reinforcement learning from demonstrations (RLfD) assumes that expert data is abundant; this is usually unrealistic in the real world given data scarcity as well as high collection cost. Furthermore, imitation learning algorithms…

Safely navigating through an urban environment without violating any traffic rules is a crucial performance target for reliable autonomous driving. In this paper, we present a Reinforcement Learning (RL) based methodology to DEtect and FIX…

Learning from Demonstration (LfD) is a useful paradigm for training policies that solve tasks involving complex motions, such as those encountered in robotic manipulation. In practice, the successful application of LfD requires overcoming…

End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source…

Our work aims at efficiently leveraging ambiguous demonstrations for the training of a reinforcement learning (RL) agent. An ambiguous demonstration can usually be interpreted in multiple ways, which severely hinders the RL-Agent from…