相关论文: Explorative Imitation Learning: A Path Signature A…

When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…

Continual learning aims to acquire new knowledge while retaining past information. Class-incremental learning (CIL) presents a challenging scenario where classes are introduced sequentially. For video data, the task becomes more complex…

Imitation learning often needs a large demonstration set in order to handle the full range of situations that an agent might find itself in during deployment. However, collecting expert demonstrations can be expensive. Recent work in…

Reinforcement Learning (RL) in partially observable environments poses significant challenges due to the complexity of learning under uncertainty. While additional information, such as that available in simulations, can enhance training,…

We introduce Correspondence-Oriented Imitation Learning (COIL), a conditional policy learning framework for visuomotor control with a flexible task representation in 3D. At the core of our approach, each task is defined by the intended…

Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

Imitation learning (IL) aims to mimic the behavior of an expert in a sequential decision making task by learning from demonstrations, and has been widely applied to robotics, autonomous driving, and autoregressive text generation. The…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Program optimization is the process of modifying software to execute more efficiently. Superoptimizers attempt to find the optimal program by employing significantly more expensive search and constraint solving techniques. Generally, these…

Deep neural networks perform remarkably well in close-world scenarios. However, novel classes emerged continually in real applications, making it necessary to learn incrementally. Class-incremental learning (CIL) aims to gradually recognize…

In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…

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…

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…

Policy learning under action constraints plays a central role in ensuring safe behaviors in various robot control and resource allocation applications. In this paper, we study a new problem setting termed Action-Constrained Imitation…

Autonomous driving has attracted great attention from both academics and industries. To realise autonomous driving, Deep Imitation Learning (DIL) is treated as one of the most promising solutions, because it improves autonomous driving…

Imitation learning has been a trend recently, yet training a generalist agent across multiple tasks still requires large-scale expert demonstrations, which are costly and labor-intensive to collect. To address the challenge of limited…

A fundamental challenge in imitation learning is the \emph{covariate shift} problem. Existing methods to mitigate covariate shift often require additional expert interactions, access to environment dynamics, or complex adversarial training,…

Class-incremental learning (CIL) aims to develop a learning system that can continually learn new classes from a data stream without forgetting previously learned classes. When learning classes incrementally, the classifier must be…

Adversarial imitation learning (AIL) is a popular method that has recently achieved much success. However, the performance of AIL is still unsatisfactory on the more challenging tasks. We find that one of the major reasons is due to the low…