相关论文: DARIL: When Imitation Learning outperforms Reinfor…

We compare the performance of Inverse Reinforcement Learning (IRL) with the relative new model of Multi-agent Inverse Reinforcement Learning (MIRL). Before comparing the methods, we extend a published Bayesian IRL approach that is only…

Existing imitation learning (IL) methods such as inverse reinforcement learning (IRL) usually have a double-loop training process, alternating between learning a reward function and a policy and tend to suffer long training time and high…

Exploiting unmanned aerial vehicles (UAVs) to execute tasks is gaining growing popularity recently. To solve the underlying task scheduling problem, the deep reinforcement learning (DRL) based methods demonstrate notable advantage over the…

Imitation learning learns a policy from expert trajectories. While the expert data is believed to be crucial for imitation quality, it was found that a kind of imitation learning approach, adversarial imitation learning (AIL), can have…

Construction robots are challenging the traditional paradigm of labor intensive and repetitive construction tasks. Present concerns regarding construction robots are focused on their abilities in performing complex tasks consisting of…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

Continuous-action policies trained on a single demonstrated trajectory per scene suffer from mode collapse: samples cluster around the demonstrated maneuver and the policy cannot represent semantically distinct alternatives. Under…

Pretraining is a common technique in deep learning for increasing performance and reducing training time, with promising experimental results in deep reinforcement learning (RL). However, pretraining requires a relevant dataset for…

Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that…

Post-training algorithms based on deep reinforcement learning can push the limits of robotic models for specific objectives, such as generalizability, accuracy, and robustness. However, Intervention-requiring Failures (IR Failures) (e.g., a…

Inverse reinforcement learning (IRL) infers a reward function from demonstrations, allowing for policy improvement and generalization. However, despite much recent interest in IRL, little work has been done to understand the minimum set of…

Adversarial Imitation Learning (AIL) allows the agent to reproduce expert behavior with low-dimensional states and actions. However, challenges arise in handling visual states due to their less distinguishable representation compared to…

Reinforcement learning for multi-goal robot manipulation tasks poses significant challenges due to the diversity and complexity of the goal space. Techniques such as Hindsight Experience Replay (HER) have been introduced to improve learning…

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…

Imitation learning (IL) is a general learning paradigm for tackling sequential decision-making problems. Interactive imitation learning, where learners can interactively query for expert demonstrations, has been shown to achieve provably…

Inverse reinforcement learning (IRL) offers a powerful and general framework for learning humans' latent preferences in route recommendation, yet no approach has successfully addressed planetary-scale problems with hundreds of millions of…

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in…

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…

We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…

Deep Reinforcement Learning (DRL) is a paradigm of artificial intelligence where an agent uses a neural network to learn which actions to take in a given environment. DRL has recently gained traction from being able to solve complex…