相关论文: SENSOR: Imitate Third-Person Expert's Behaviors vi…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Model-based imitation learning (MBIL) is a popular reinforcement learning method that improves sample efficiency on high-dimension input sources, such as images and videos. Following the convention of MBIL research, existing algorithms are…

This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…

We introduce a general framework for visual forecasting, which directly imitates visual sequences without additional supervision. As a result, our model can be applied at several semantic levels and does not require any domain knowledge or…

Imitation learning is a primary approach to improve the efficiency of reinforcement learning by exploiting the expert demonstrations. However, in many real scenarios, obtaining expert demonstrations could be extremely expensive or even…

Imitation learning has proven to be useful for many real-world problems, but approaches such as behavioral cloning suffer from data mismatch and compounding error issues. One attempt to address these limitations is the DAgger algorithm,…

Imitation can be viewed as a means of enhancing learning in multiagent environments. It augments an agent's ability to learn useful behaviors by making intelligent use of the knowledge implicit in behaviors demonstrated by cooperative…

One-shot Imitation Learning~(OSIL) aims to imbue AI agents with the ability to learn a new task from a single demonstration. To supervise the learning, OSIL typically requires a prohibitively large number of paired expert demonstrations --…

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

Mixed cooperative-competitive control scenarios such as human-machine interaction with individual goals of the interacting partners are very challenging for reinforcement learning agents. In order to contribute towards intuitive…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…

Approaches for teaching learning agents via human demonstrations have been widely studied and successfully applied to multiple domains. However, the majority of imitation learning work utilizes only behavioral information from the…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

In this paper, we describe a novel approach to imitation learning that infers latent policies directly from state observations. We introduce a method that characterizes the causal effects of latent actions on observations while…

Imitation learning is an approach in which an agent learns how to execute a task by trying to mimic how one or more teachers perform it. This learning approach offers a compromise between the time it takes to learn a new task and the effort…

Humans perceive and interact with hundreds of objects every day. In doing so, they need to employ mental models of these objects and often exploit symmetries in the object's shape and appearance in order to learn generalizable and…

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…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…