相关论文: SkillMimic-V2: Learning Robust and Generalizable I…

Unsupervised skill discovery in reinforcement learning (RL) aims to learn diverse behaviors without relying on external rewards. However, current methods often overlook the periodic nature of learned skills, focusing instead on increasing…

Temporal Graph Networks (TGNs) have shown remarkable performance in learning representation for continuous-time dynamic graphs. However, real-world dynamic graphs typically contain diverse and intricate noise. Noise can significantly…

Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demonstrations as elastic…

Imitation Learning (IL), also referred to as Learning from Demonstration (LfD), holds significant promise for capturing expert motor skills through efficient imitation, facilitating adept navigation of complex scenarios. A persistent…

Effective visual representation learning is crucial for reinforcement learning (RL) agents to extract task-relevant information from raw sensory inputs and generalize across diverse environments. However, existing RL benchmarks lack the…

In behavioral cloning (BC), policy performance is fundamentally limited by demonstration data quality. Real-world datasets contain trajectories of varying quality due to operator skill differences, teleoperation artifacts, and procedural…

Dynamic Sparse Training (DST) methods achieve state-of-the-art results in sparse neural network training, matching the generalization of dense models while enabling sparse training and inference. Although the resulting models are highly…

A safe and efficient decision-making system is crucial for autonomous vehicles. However, the complexity of driving environments limits the effectiveness of many rule-based and machine learning approaches. Reinforcement Learning (RL), with…

Robust representation learning of temporal dynamic interactions is an important problem in robotic learning in general and automated unsupervised learning in particular. Temporal dynamic interactions can be described by (multiple) geometric…

Vision-based reinforcement learning (RL) is a promising approach to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image…

Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning (RL) methods have reduced the number of required…

Prompt-based continual learning (CL) provides a parameter-efficient approach for adapting large language models (LLMs) across task sequences. However, most existing methods rely on task-aware inference and maintain a growing set of…

Augmenting reinforcement learning with imitation learning is often hailed as a method by which to improve upon learning from scratch. However, most existing methods for integrating these two techniques are subject to several strong…

Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic…

Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill…

This paper proposes a new regularization technique for reinforcement learning (RL) towards making policy and value functions smooth and stable. RL is known for the instability of the learning process and the sensitivity of the acquired…

Device-to-device (D2D) spectrum sharing in wireless communications is a challenging non-convex combinatorial optimization problem, involving entangled link scheduling and power control in a large-scale network. The state-of-the-art methods,…

Learning for Demonstration (LfD) enables robots to acquire new skills by imitating expert demonstrations, allowing users to communicate their instructions in an intuitive manner. Recent progress in LfD often relies on kinesthetic teaching…

Although Deep Reinforcement Learning (DRL) has been popular in many disciplines including robotics, state-of-the-art DRL algorithms still struggle to learn long-horizon, multi-step and sparse reward tasks, such as stacking several blocks…

We study pre-training representations for decision-making using video data, which is abundantly available for tasks such as game agents and software testing. Even though significant empirical advances have been made on this problem, a…