相关论文: Feature-Based vs. GAN-Based Learning from Demonstr…

Two of the most popular modelling paradigms in computer vision are feed-forward neural networks (FFNs) and probabilistic graphical models (GMs). Various connections between the two have been studied in recent works, such as e.g. expressing…

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…

Recent developments in sequential experimental design look to construct a policy that can efficiently navigate the design space, in a way that maximises the expected information gain. Whilst there is work on achieving tractable policies for…

Unsupervised learning of generative models has seen tremendous progress over recent years, in particular due to generative adversarial networks (GANs), variational autoencoders, and flow-based models. GANs have dramatically improved sample…

We study reinforcement learning from human feedback in general Markov decision processes, where agents learn from trajectory-level preference comparisons. A central challenge in this setting is to design algorithms that select informative…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

Reinforcement learning problems are often described through rewards that indicate if an agent has completed some task. This specification can yield desirable behavior, however many problems are difficult to specify in this manner, as one…

How to learn an effective reinforcement learning-based model for control tasks from high-level visual observations is a practical and challenging problem. A key to solving this problem is to learn low-dimensional state representations from…

We study the task of teaching a machine to classify objects using features and labels. We introduce the Error-Driven-Featuring design pattern for teaching using features and labels in which a teacher prefers to introduce features only if…

Generative adversarial networks (GANs) are very popular to generate realistic images, but they often suffer from the training instability issues and the phenomenon of mode loss. In order to attain greater diversity in GAN synthesized data,…

In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when addressing complex long-horizon tasks with deformable objects, such as high-dimensional state spaces,…

Interpretability is an important area of research for safe deployment of machine learning systems. One particular type of interpretability method attributes model decisions to input features. Despite active development, quantitative…

Apprenticeship learning crucially depends on effectively learning rewards, and hence control policies from user demonstrations. Of particular difficulty is the setting where the desired task consists of a number of sub-goals with temporal…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…

Learning from Demonstrations, the field that proposes to learn robot behavior models from data, is gaining popularity with the emergence of deep generative models. Although the problem has been studied for years under names such as…

Ensuring the trustworthiness and interpretability of machine learning models is critical to their deployment in real-world applications. Feature attribution methods have gained significant attention, which provide local explanations of…

Advances in generative modeling based on GANs has motivated the community to find their use beyond image generation and editing tasks. In particular, several recent works have shown that GAN representations can be re-purposed for…

Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…

We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control…

Recent advances in reinforcement learning have inspired increasing interest in learning user modeling adaptively through dynamic interactions, e.g., in reinforcement learning based recommender systems. Reward function is crucial for most of…