相关论文: GABRIL: Gaze-Based Regularization for Mitigating C…

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features…

Imitation Learning (IL) techniques aim to replicate human behaviors in specific tasks. While IL has gained prominence due to its effectiveness and efficiency, traditional methods often focus on datasets collected from experts to produce a…

In several real world applications, machine learning models are deployed to make predictions on data whose distribution changes gradually along time, leading to a drift between the train and test distributions. Such models are often…

Causal representation learning (CRL) offers the promise of uncovering the underlying causal model by which observed data was generated, but the practical applicability of existing methods remains limited by the strong assumptions required…

Adversarial Imitation Learning (AIL) methods, while effective in settings with limited expert demonstrations, are often considered unstable. These approaches typically decompose into two components: Density Ratio (DR) estimation…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

Training a deep learning model with artificially generated data can be an alternative when training data are scarce, yet it suffers from poor generalization performance due to a large domain gap. In this paper, we characterize the domain…

In class-incremental learning (class-IL), models must classify all previously seen classes at test time without task-IDs, leading to task confusion. Despite being a key challenge, task confusion lacks a theoretical understanding. We present…

The pursuit of a universal AI-generated image (AIGI) detector often relies on aggregating data from numerous generators to improve generalization. However, this paper identifies a paradoxical phenomenon we term the Benefit then Conflict…

Imitation Learning (IL) is an effective learning paradigm exploiting the interactions between agents and environments. It does not require explicit reward signals and instead tries to recover desired policies using expert demonstrations. In…

Incremental Learning (IL) aims to accumulate knowledge from sequential input tasks while overcoming catastrophic forgetting. Existing IL methods typically assume that an incoming task has only increments of classes or domains, referred to…

Despite massive empirical evaluations, one of the fundamental questions in imitation learning is still not fully settled: does AIL (adversarial imitation learning) provably generalize better than BC (behavioral cloning)? We study this open…

Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…

Imitation learning is a proven method for creating a policy in the absence of rewards, by leveraging expert demonstrations. In this work, we apply imitation learning to conversation. In doing so, we recover a policy capable of talking to a…

Imitation learning suffers from causal confusion. This phenomenon occurs when learned policies attend to features that do not causally influence the expert actions but are instead spuriously correlated. Causally confused agents produce low…

Inverse reinforcement learning (IRL) is a common technique for inferring human preferences from data. Standard IRL techniques tend to assume that the human demonstrator is stationary, that is that their policy $\pi$ doesn't change over…

RGB-based imitation learning requires many demonstrations to generalize to unseen objects or scenes, motivating research into intermediate representations to improve generalization for robotic manipulation. Visual foundation models enable…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

This paper addresses the problem of inverse reinforcement learning (IRL) -- inferring the reward function of an agent from observing its behavior. IRL can provide a generalizable and compact representation for apprenticeship learning, and…

Generative adversarial imitation learning (GAIL) is a model-free algorithm that has been shown to provide strong results in imitating complex behaviors in high-dimensional environments. In this paper, we utilize the GAIL model for text…