相关论文: Overcoming Knowledge Barriers: Online Imitation Le…

Imitation from videos often fails when expert demonstrations and learner environments exhibit domain shifts, such as discrepancies in lighting, color, or texture. While visual randomization partially addresses this problem by augmenting…

In imitation learning from observation IfO, a learning agent seeks to imitate a demonstrating agent using only observations of the demonstrated behavior without access to the control signals generated by the demonstrator. Recent methods…

Deep neural networks (DNNs) have achieved significant success in various applications with large-scale and balanced data. However, data in real-world visual recognition are usually long-tailed, bringing challenges to efficient training and…

Foundation models trained on web-scale data have revolutionized robotics, but their application to low-level control remains largely limited to behavioral cloning. Drawing inspiration from the success of the reinforcement learning stage in…

Standard Behavior Cloning (BC) fails to learn multimodal driving decisions, where multiple valid actions exist for the same scenario. We explore Implicit Behavioral Cloning (IBC) with Energy-Based Models (EBMs) to better capture this…

Using environmental sensory data can enhance communications beam training and reduce its overhead compared to conventional methods. However, the availability of fresh sensory data during inference may be limited due to sensing constraints…

Imitation learning from observation (LfO) is more preferable than imitation learning from demonstration (LfD) due to the nonnecessity of expert actions when reconstructing the expert policy from the expert data. However, previous studies…

Imitation Learning from Observation (ILfO) is a setting in which a learner tries to imitate the behavior of an expert, using only observational data and without the direct guidance of demonstrated actions. In this paper, we re-examine…

Imitation learning (IL) enables agents to mimic expert behavior without reward signals but faces challenges in cross-domain scenarios with high-dimensional, noisy, and incomplete visual observations. To address this, we propose…

The complexity of the visual world creates significant challenges for comprehensive visual understanding. In spite of recent successes in visual recognition, today's vision systems would still struggle to deal with visual queries that…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Imitation from observation is the framework of learning tasks by observing demonstrated state-only trajectories. Recently, adversarial approaches have achieved significant performance improvements over other methods for imitating complex…

In this paper, we focus on the problem of integrating Energy-based Models (EBM) as guiding priors for motion optimization. EBMs are a set of neural networks that can represent expressive probability density distributions in terms of a Gibbs…

Large Vision-Language Models (VLMs) have achieved remarkable multimodal performance yet remain prone to factual hallucinations, particularly in long-tail or specialized domains. Moreover, current models exhibit a weak capacity to refuse…

Information Bottleneck (IB) is a generalization of rate-distortion theory that naturally incorporates compression and relevance trade-offs for learning. Though the original IB has been extensively studied, there has not been much…

Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…

Training visual embeddings with labeled data supervision has been the de facto setup for representation learning in computer vision. Inspired by recent success of adopting masked image modeling (MIM) in self-supervised representation…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

Classically, imitation learning algorithms have been developed for idealized situations, e.g., the demonstrations are often required to be collected in the exact same environment and usually include the demonstrator's actions. Recently,…

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…