相关论文: Adapting a World Model for Trajectory Following in…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

In many real-world settings, agents must learn from an offline dataset gathered by some prior behavior policy. Such a setting naturally leads to distribution shift between the behavior policy and the target policy being trained - requiring…

Policies for partially observed Markov decision processes can be efficiently learned by imitating policies for the corresponding fully observed Markov decision processes. Unfortunately, existing approaches for this kind of imitation…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Despite the remarkable success of Deep RL in learning control policies from raw pixels, the resulting models do not generalize. We demonstrate that a trained agent fails completely when facing small visual changes, and that…

Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution…

In games, as in and many other domains, design validation and testing is a huge challenge as systems are growing in size and manual testing is becoming infeasible. This paper proposes a new approach to automated game validation and testing.…

While advances in multi-agent learning have enabled the training of increasingly complex agents, most existing techniques produce a final policy that is not designed to adapt to a new partner's strategy. However, we would like our AI agents…

Behavior cloning (BC) is a practical offline imitation learning method, but it often fails when expert demonstrations are limited. Recent works have introduced a class of architectures named predictive inverse dynamics models (PIDM) that…

Game-theoretic models of learning are a powerful set of models that optimize multi-objective architectures. Among these models are zero-sum architectures that have inspired adversarial learning frameworks. An important shortcoming of these…

This paper presents an effective approach for learning novel 4D embodied world models, which predict the dynamic evolution of 3D scenes over time in response to an embodied agent's actions, providing both spatial and temporal consistency.…

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

This paper introduces a reinforcement learning framework that enables controllable and diverse player behaviors without relying on human gameplay data. Existing approaches often require large-scale player trajectories, train separate models…

Dynamic game theory is an increasingly popular tool for modeling multi-agent, e.g. human-robot, interactions. Game-theoretic models presume that each agent wishes to minimize a private cost function that depends on others' actions. These…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

Evolutionary game theory has been an important tool for describing economic and social behaviour for decades. Approximate mean value equations describing the time evolution of strategy concentrations can be derived from the players'…