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

Memory-based self-evolution has emerged as a promising paradigm for coding agents. However, existing approaches typically restrict memory utilization to homogeneous task domains, failing to leverage the shared infrastructural foundations,…

The combination of behavioural cloning and neural networks has driven significant progress in robotic manipulation. As these algorithms may require a large number of demonstrations for each task of interest, they remain fundamentally…

Online learning with streaming data in a distributed and collaborative manner can be useful in a wide range of applications. This topic has been receiving considerable attention in recent years with emphasis on both single-task and…

Recent works have proven that many relevant visual tasks are closely related one to another. Yet, this connection is seldom deployed in practice due to the lack of practical methodologies to transfer learned concepts across different…

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…

Domain alignment is currently the most prevalent solution to unsupervised domain-adaptation tasks and are often being presented as minimizers of some theoretical upper-bounds on risk in the target domain. However, further works revealed…

Behavior Cloning (BC) is an effective imitation learning technique and has even been adopted in some safety-critical domains such as autonomous vehicles. BC trains a policy to mimic the behavior of an expert by using a dataset composed of…

Learning policies that generalize across multiple tasks is an important and challenging research topic in reinforcement learning and robotics. Training individual policies for every single potential task is often impractical, especially for…

Transfer reinforcement learning (RL) aims at improving the learning efficiency of an agent by exploiting knowledge from other source agents trained on relevant tasks. However, it remains challenging to transfer knowledge between different…

In this work, we focus on the problem of safe policy transfer in reinforcement learning: we seek to leverage existing policies when learning a new task with specified constraints. This problem is important for safety-critical applications…

Given a dataset of expert agent interactions with an environment of interest, a viable method to extract an effective agent policy is to estimate the maximum likelihood policy indicated by this data. This approach is commonly referred to as…

Multi-Source Domain Adaptation (MSDA) aims to mitigate changes in data distribution when transferring knowledge from multiple labeled source domains to an unlabeled target domain. However, existing MSDA techniques assume target domain…

Transfer learning is an important field of machine learning in general, and particularly in the context of fully autonomous driving, which needs to be solved simultaneously for many different domains, such as changing weather conditions and…

Deploying machine learning algorithms for robot tasks in real-world applications presents a core challenge: overcoming the domain gap between the training and the deployment environment. This is particularly difficult for visuomotor…

Domain randomization (DR) is a successful technique for learning robust policies for robot systems, when the dynamics of the target robot system are unknown. The success of policies trained with domain randomization however, is highly…

Deep learning has raised hopes and expectations as a general solution for many applications; indeed it has proven effective, but it also showed a strong dependence on large quantities of data. Luckily, it has been shown that, even when data…

Domain adaptation refers to the process of learning prediction models in a target domain by making use of data from a source domain. Many classic methods solve the domain adaptation problem by establishing a common latent space, which may…

Most existing multi-source domain adaptation (MSDA) methods minimize the distance between multiple source-target domain pairs via feature distribution alignment, an approach borrowed from the single source setting. However, with diverse…

Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals…

In semi-supervised domain adaptation (SSDA), a few labeled target samples of each class help the model to transfer knowledge representation from the fully labeled source domain to the target domain. Many existing methods ignore the benefits…