相关论文: Hierarchical Imitation Learning of Team Behavior f…

In many real-world imitation learning tasks, the demonstrator and the learner have to act under different observation spaces. This situation brings significant obstacles to existing imitation learning approaches, since most of them learn…

We propose a multimodal (vision-and-language) benchmark for cooperative and heterogeneous multi-agent learning. We introduce a benchmark multimodal dataset with tasks involving collaboration between multiple simulated heterogeneous robots…

Recently, deep multi-agent reinforcement learning (MARL) has shown the promise to solve complex cooperative tasks. Its success is partly because of parameter sharing among agents. However, such sharing may lead agents to behave similarly…

Active learning (AL) prioritizes the labeling of the most informative data samples. However, the performance of AL heuristics depends on the structure of the underlying classifier model and the data. We propose an imitation learning scheme…

Cooperative multi-agent reinforcement learning (MARL) has made substantial strides in addressing the distributed decision-making challenges. However, as multi-agent systems grow in complexity, gaining a comprehensive understanding of their…

Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…

Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…

To accurately pour drinks into various containers is an essential skill for service robots. However, drink pouring is a dynamic process and difficult to model. Traditional deep imitation learning techniques for implementing autonomous…

In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…

This work proposes a decentralized architecture, where individual agents aim at solving a classification problem while observing streaming features of different dimensions and arising from possibly different distributions. In the context of…

Humans perceive actions through key transitions that structure actions across multiple abstraction levels, whereas machines, relying on visual features, tend to over-segment. This highlights the difficulty of enabling hierarchical reasoning…

Multi-task multi-agent reinforcement learning (MT-MARL) has recently gained attention for its potential to enhance MARL's adaptability across multiple tasks. However, it is challenging for existing multi-task learning methods to handle…

Cooperative multi-robot tasks can benefit from heterogeneity in the robots' physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL) frameworks lack the ability to explicitly accommodate policy…

We introduce Compositional Imitation Learning and Execution (CompILE): a framework for learning reusable, variable-length segments of hierarchically-structured behavior from demonstration data. CompILE uses a novel unsupervised,…

Even though machine learning algorithms already play a significant role in data science, many current methods pose unrealistic assumptions on input data. The application of such methods is difficult due to incompatible data formats, or…

This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where robots are treated as transferable resources. Leveraging Hamilton's rule from ecology as an altruistic decision-making mechanism, we propose a…

In this work, we present the first theoretical analysis of multi-agent imitation learning (MAIL) in linear Markov games where both the transition dynamics and each agent's reward function are linear in some given features. We demonstrate…

This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…

Deep Multi-Task Learning (DMTL) has been widely studied in the machine learning community and applied to a broad range of real-world applications. Searching for the optimal knowledge sharing in DMTL is more challenging for sequential…

In this work we describe a novel deep reinforcement learning architecture that allows multiple actions to be selected at every time-step in an efficient manner. Multi-action policies allow complex behaviours to be learnt that would…