相关论文: Imitation Learning from a Single Temporally Misali…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Achieving high-performance in multi-object tracking algorithms heavily relies on modeling spatio-temporal relationships during the data association stage. Mainstream approaches encompass rule-based and deep learning-based methods for…

The success of automated driving deployment is highly depending on the ability to develop an efficient and safe driving policy. The problem is well formulated under the framework of optimal control as a cost optimization problem. Model…

Metric learning is a fundamental problem in computer vision whereby a model is trained to learn a semantically useful embedding space via ranking losses. Traditionally, the effectiveness of a ranking loss depends on the minibatch size, and…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In…

An oft-ignored challenge of real-world reinforcement learning is that the real world does not pause when agents make learning updates. As standard simulated environments do not address this real-time aspect of learning, most available…

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

Model-based Reinforcement Learning (MBRL) aims to make agents more sample-efficient, adaptive, and explainable by learning an explicit model of the environment. While the capabilities of MBRL agents have significantly improved in recent…

A key challenge in Imitation Learning (IL) is that optimal state actions demonstrations are difficult for the teacher to provide. For example in robotics, providing kinesthetic demonstrations on a robotic manipulator requires the teacher to…

This paper focuses on self-supervised video representation learning. Most existing approaches follow the contrastive learning pipeline to construct positive and negative pairs by sampling different clips. However, this formulation tends to…

Vision-Language-Action (VLA) models have demonstrated strong performance across a wide range of robotic manipulation tasks. Despite the success, extending large pretrained Vision-Language Models (VLMs) to the action space can induce…

Curriculum learning and imitation learning have been leveraged extensively in the robotics domain. However, minimal research has been done on leveraging these ideas on control tasks over highly stochastic time-series data. Here, we…

Marine visual understanding is essential for monitoring and protecting marine ecosystems, enabling automatic and scalable biological surveys. However, progress is hindered by limited training data and the lack of a systematic task…

Model-based reinforcement learning (MBRL) aims to learn a dynamic model to reduce the number of interactions with real-world environments. However, due to estimation error, rollouts in the learned model, especially those of long horizons,…

Natural videos provide rich visual contents for self-supervised learning. Yet most existing approaches for learning spatio-temporal representations rely on manually trimmed videos, leading to limited diversity in visual patterns and limited…

Evaluating open-ended responses from large audio language models (LALMs) is challenging because human annotators often genuinely disagree on answer correctness due to multiple valid interpretations, partial correctness, and subjective…

When performing imitation learning from expert demonstrations, distribution matching is a popular approach, in which one alternates between estimating distribution ratios and then using these ratios as rewards in a standard reinforcement…

Sequence models in reinforcement learning require task knowledge to estimate the task policy. This paper presents a hierarchical algorithm for learning a sequence model from demonstrations. The high-level mechanism guides the low-level…