相关论文: Adversarial Data Collection: Human-Collaborative P…

We present an adversarial active exploration for inverse dynamics model learning, a simple yet effective learning scheme that incentivizes exploration in an environment without any human intervention. Our framework consists of a deep…

Adversarial continual learning is effective for continual learning problems because of the presence of feature alignment process generating task-invariant features having low susceptibility to the catastrophic forgetting problem.…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

A long-standing goal in robot learning is to develop methods for robots to acquire new skills autonomously. While reinforcement learning (RL) comes with the promise of enabling autonomous data collection, it remains challenging to scale in…

We propose a novel one-step supervised imitation learning (IL) framework called Adversarial Density Regression (ADR). This IL framework aims to correct the policy learned on unknown-quality to match the expert distribution by utilizing…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

DL-based automatic modulation classification (AMC) models are highly susceptible to adversarial attacks, where even minimal input perturbations can cause severe misclassifications. While adversarially training an AMC model based on an…

In Dynamic Adversarial Data Collection (DADC), human annotators are tasked with finding examples that models struggle to predict correctly. Models trained on DADC-collected training data have been shown to be more robust in adversarial and…

Adversarial Imitation Learning (AIL) is a dominant framework in imitation learning that infers rewards from expert demonstrations to guide policy optimization. Although providing more expert demonstrations typically leads to improved…

Paucity of large curated hand-labeled training data for every domain-of-interest forms a major bottleneck in the deployment of machine learning models in computer vision and other fields. Recent work (Data Programming) has shown how distant…

Humanoid robots are anticipated to acquire a wide range of locomotion capabilities while ensuring natural movement across varying speeds and terrains. Existing methods encounter a fundamental dilemma in learning humanoid locomotion:…

Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist robot policies. However, while these policies achieve strong mean performance across a variety of tasks, they often underperform on…

Recent work has shown that, when integrated with adversarial training, self-supervised pre-training can lead to state-of-the-art robustness In this work, we improve robustness-aware self-supervised pre-training by learning representations…

Deep reinforcement learning (DRL) algorithms can suffer from modeling errors between the simulation and the real world. Many studies use adversarial learning to generate perturbation during training process to model the discrepancy and…

Despite recent success of self-supervised based contrastive learning model for 3D point clouds representation, the adversarial robustness of such pre-trained models raised concerns. Adversarial contrastive learning (ACL) is considered an…

Inverse Reinforcement Learning (IRL) learns an optimal policy, given some expert demonstrations, thus avoiding the need for the tedious process of specifying a suitable reward function. However, current methods are constrained by at least…

Current machine learning models achieve super-human performance in many real-world applications. Still, they are susceptible against imperceptible adversarial perturbations. The most effective solution for this problem is adversarial…

Large-scale data collection is essential for developing personalized training data, mitigating the shortage of training data, and fine-tuning specialized models. However, creating high-quality datasets quickly and accurately remains a…

Large Language Models (LLMs) have made significant strides in Natural Language Processing and coding, yet they struggle with robustness and accuracy in complex function calls. To tackle these challenges, this paper introduces ADC, an…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…