相关论文: Data Augmentation for Instruction Following Polici…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. However as initially implemented, behavior trees are static plans. This paper adds to recent literature exploring the…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

In this article, we present a new machine learning model by imitation based on the linguistic description of complex phenomena. The idea consists of, first, capturing the behaviour of human players by creating a computational perception…

Open ad hoc teamwork is the problem of training a single agent to efficiently collaborate with an unknown group of teammates whose composition may change over time. A variable team composition creates challenges for the agent, such as the…

Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…

Temporal action segmentation (TAS) aims to classify and locate actions in the long untrimmed action sequence. With the success of deep learning, many deep models for action segmentation have emerged. However, few-shot TAS is still a…

Real-world text classification tasks often require many labeled training examples that are expensive to obtain. Recent advancements in machine teaching, specifically the data programming paradigm, facilitate the creation of training data…

The state of the art in semantic segmentation is steadily increasing in performance, resulting in more precise and reliable segmentations in many different applications. However, progress is limited by the cost of generating labels for…

Group-based reinforcement learning (RL) methods have achieved remarkable success in improving the performance of large language models (LLMs) and have been rapidly extended to agentic tasks. However, their credit assignment relies heavily…

Learning a policy capable of moving an agent between any two states in the environment is important for many robotics problems involving navigation and manipulation. Due to the sparsity of rewards in such tasks, applying reinforcement…

It is well known that semantic segmentation can be used as an effective intermediate representation for learning driving policies. However, the task of street scene semantic segmentation requires expensive annotations. Furthermore,…

Development of guidance, navigation and control frameworks/algorithms for swarms attracted significant attention in recent years. That being said, algorithms for planning swarm allocations/trajectories for engaging with enemy swarms is…

We initiate the study of structured Stackelberg games, a novel form of strategic interaction between a leader and a follower where contextual information can be predictive of the follower's (unknown) type. Motivated by applications such as…

Training robotic policies in simulation suffers from the sim-to-real gap, as simulated dynamics can be different from real-world dynamics. Past works tackled this problem through domain randomization and online system-identification. The…

This work presents an exploration and imitation-learning-based agent capable of state-of-the-art performance in playing text-based computer games. Text-based computer games describe their world to the player through natural language and…

Sophisticated trajectory prediction models that effectively mimic team dynamics have many potential uses for sports coaches, broadcasters and spectators. However, through experiments on soccer data we found that it can be surprisingly…

We present a generative optimization approach for learning game-playing agents, where policies are represented as Python programs and refined using large language models (LLMs). Our method treats decision-making policies as self-evolving…

Designing effective task-level prompts is crucial for improving the performance of Large Language Models (LLMs). While prior work on instruction induction demonstrates that LLMs can infer better instructions with limited examples, existing…

Sim-to-real discrepancies hinder learning-based policies from achieving high-precision tasks in the real world. While Domain Randomization (DR) is commonly used to bridge this gap, it often relies on heuristics and can lead to overly…