相关论文: Cross-Domain Policy Transfer by Representation Ali…

Behavioral cloning becomes difficult when the same observation admits several valid actions. We study this problem for action-chunking policies and show that different multimodal parameterizations fail in different ways. For latent-variable…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

Humans can master a new task within a few trials by drawing upon skills acquired through prior experience. To mimic this capability, hierarchical models combining primitive policies learned from prior tasks have been proposed. However,…

Aiming towards human-level generalization, there is a need to explore adaptable representation learning methods with greater transferability. Most existing approaches independently address task-transferability and cross-domain adaptation,…

Domain adaptation is an important task to enable learning when labels are scarce. While most works focus only on the image modality, there are many important multi-modal datasets. In order to leverage multi-modality for domain adaptation,…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Imitation learning seeks to circumvent the difficulty in designing proper reward functions for training agents by utilizing expert behavior. With environments modeled as Markov Decision Processes (MDP), most of the existing imitation…

To successfully apply trained neural network models to new domains, powerful transfer learning solutions are essential. We propose to introduce a novel cross-domain latent modulation mechanism to a variational autoencoder framework so as to…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

Generalizing beyond the training domain in image-based behavior cloning remains challenging. Existing methods address individual axes of generalization, workspace shifts, viewpoint changes, and cross-embodiment transfer, yet they are…

Existing techniques to adapt semantic segmentation networks across the source and target domains within deep convolutional neural networks (CNNs) deal with all the samples from the two domains in a global or category-aware manner. They do…

Transferring knowledge in cross-domain reinforcement learning is a challenging setting in which learning is accelerated by reusing knowledge from a task with different observation and/or action space. However, it is often necessary to…

Language-conditioned policies allow robots to interpret and execute human instructions. Learning such policies requires a substantial investment with regards to time and compute resources. Still, the resulting controllers are highly…

The ability to transfer a policy from one environment to another is a promising avenue for efficient robot learning in realistic settings where task supervision is not available. This can allow us to take advantage of environments well…

Domain generalization methods aim to learn models robust to domain shift with data from a limited number of source domains and without access to target domain samples during training. Popular domain alignment methods for domain…

Behavioural cloning is an imitation learning technique that teaches an agent how to behave via expert demonstrations. Recent approaches use self-supervision of fully-observable unlabelled snapshots of the states to decode state pairs into…

Behavioral cloning is an imitation learning technique that teaches an agent how to behave through expert demonstrations. Recent approaches use self-supervision of fully-observable unlabeled snapshots of the states to decode state-pairs into…