相关论文: Zero-Shot Offline Imitation Learning via Optimal T…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

We consider offline Imitation Learning from corrupted demonstrations where a constant fraction of data can be noise or even arbitrary outliers. Classical approaches such as Behavior Cloning assumes that demonstrations are collected by an…

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into…

Unlike most reinforcement learning agents which require an unrealistic amount of environment interactions to learn a new behaviour, humans excel at learning quickly by merely observing and imitating others. This ability highly depends on…

We address policy learning with logged data in contextual bandits. Current offline-policy learning algorithms are mostly based on inverse propensity score (IPS) weighting requiring the logging policy to have \emph{full support} i.e. a…

Imitation of expert behaviour is a highly desirable and safe approach to the problem of sequential decision making. We provide an easy-to-implement, novel algorithm for imitation learning under a strict data paradigm, in which the agent…

Zero-shot reinforcement learning (RL) promises to provide agents that can perform any task in an environment after an offline, reward-free pre-training phase. Methods leveraging successor measures and successor features have shown strong…

The robustness of any machine learning solution is fundamentally bound by the data it was trained on. One way to generalize beyond the original training is through human-informed augmentation of the original dataset; however, it is…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

Recent Offline Reinforcement Learning methods have succeeded in learning high-performance policies from fixed datasets of experience. A particularly effective approach learns to first identify and then mimic optimal decision-making…

Zero-shot learning (ZSL) for image classification focuses on recognizing novel categories that have no labeled data available for training. The learning is generally carried out with the help of mid-level semantic descriptors associated…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Imitation learning is a promising approach for enabling generalist capabilities in humanoid robots, but its scaling is fundamentally constrained by the scarcity of high-quality expert demonstrations. This limitation can be mitigated by…

A desirable property of autonomous agents is the ability to both solve long-horizon problems and generalize to unseen tasks. Recent advances in data-driven skill learning have shown that extracting behavioral priors from offline data can…

Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstrations, experts are not always consistent and might…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

In this work we present a method for leveraging data from one source to learn how to do multiple new tasks. Task transfer is achieved using a self-model that encapsulates the dynamics of a system and serves as an environment for…

Achieving a proper balance between planning quality, safety and efficiency is a major challenge for autonomous driving. Optimisation-based motion planners are capable of producing safe, smooth and comfortable plans, but often at the cost of…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…