相关论文: Diffusion-Reward Adversarial Imitation Learning

Diffusion models are powerful generative models that achieve state-of-the-art performance in image synthesis. However, training them demands substantial amounts of data and computational resources. Continual learning would allow for…

Imitation Learning (IL) has achieved remarkable success across various domains, including robotics, autonomous driving, and healthcare, by enabling agents to learn complex behaviors from expert demonstrations. However, existing IL methods…

Domain incremental learning (DIL) poses a significant challenge in real-world scenarios, as models need to be sequentially trained on diverse domains over time, all the while avoiding catastrophic forgetting. Mitigating representation…

Advances in deep generative networks have led to impressive results in recent years. Nevertheless, such models can often waste their capacity on the minutiae of datasets, presumably due to weak inductive biases in their decoders. This is…

Imitation learning empowers artificial agents to mimic behavior by learning from demonstrations. Recently, diffusion models, which have the ability to model high-dimensional and multimodal distributions, have shown impressive performance on…

Inverse Reinforcement Learning (IRL) is attractive in scenarios where reward engineering can be tedious. However, prior IRL algorithms use on-policy transitions, which require intensive sampling from the current policy for stable and…

Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses…

Diffusion and flow matching policies offer expressive, multimodal action modeling, yet they are frequently unstable in online reinforcement learning (RL) due to intractable likelihoods and gradients propagating through long sampling chains.…

Comprehending natural language and following human instructions are critical capabilities for intelligent agents. However, the flexibility of linguistic instructions induces substantial ambiguity across language-conditioned tasks, severely…

The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from Demonstrations (LfD) approaches…

Learning rewards from expert videos offers an affordable and effective solution to specify the intended behaviors for reinforcement learning (RL) tasks. In this work, we propose Diffusion Reward, a novel framework that learns rewards from…

Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS),…

Visual imitation learning enables reinforcement learning agents to learn to behave from expert visual demonstrations such as videos or image sequences, without explicit, well-defined rewards. Previous research either adopted supervised…

We study inverse mechanism learning: recovering an unknown incentive-generating mechanism from observed strategic interaction traces of self-interested learning agents. Unlike inverse game theory and multi-agent inverse reinforcement…

This paper introduces DiffCarl, a diffusion-modeled carbon- and risk-aware reinforcement learning algorithm for intelligent operation of multi-microgrid systems. With the growing integration of renewables and increasing system complexity,…

Multi-agent reinforcement learning has drawn increasing attention in practice, e.g., robotics and automatic driving, as it can explore optimal policies using samples generated by interacting with the environment. However, high reward…

Deep Reinforcement Learning achieves very good results in domains where reward functions can be manually engineered. At the same time, there is growing interest within the community in using games based on Procedurally Content Generation…

Training Generative Adversarial Networks (GANs) remains a challenging problem. The discriminator trains the generator by learning the distribution of real/generated data. However, the distribution of generated data changes throughout the…

Joint machine learning models that allow synthesizing and classifying data often offer uneven performance between those tasks or are unstable to train. In this work, we depart from a set of empirical observations that indicate the…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…