相关论文: Boosting Action-Information via a Variational Bott…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

The information bottleneck principle provides an information-theoretic method for representation learning, by training an encoder to retain all information which is relevant for predicting the label while minimizing the amount of other,…

The information bottleneck principle is an elegant and useful approach to representation learning. In this paper, we investigate the problem of representation learning in the context of reinforcement learning using the information…

Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. A key challenge in LfD research is that users tend to provide…

We propose a novel approach to train a multi-modal policy from mixed demonstrations without their behavior labels. We develop a method to discover the latent factors of variation in the demonstrations. Specifically, our method is based on…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

The Information Bottleneck (IB) provides an information theoretic principle for representation learning, by retaining all information relevant for predicting label while minimizing the redundancy. Though IB principle has been applied to a…

Learning from Demonstration (LfD) is a framework that allows lay users to easily program robots. However, the efficiency of robot learning and the robot's ability to generalize to task variations hinges upon the quality and quantity of the…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

Reinforcement learning has achieved promising results on robotic control tasks but struggles to leverage information effectively from multiple sensory modalities that differ in many characteristics. Recent works construct auxiliary losses…

Learning with hidden variables is a central challenge in probabilistic graphical models that has important implications for many real-life problems. The classical approach is using the Expectation Maximization (EM) algorithm. This…

Despite its notable success in adversarial learning approaches to multi-domain task-oriented dialog system, training the dialog policy via adversarial inverse reinforcement learning often fails to balance the performance of the policy…

Reinforcement learning algorithms are typically limited to learning a single solution for a specified task, even though diverse solutions often exist. Recent studies showed that learning a set of diverse solutions is beneficial because…

In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy from demonstrations performed by teacher. RLfD enables a human…

Reinforcement Learning (RL) has recently achieved remarkable success in robotic control. However, most works in RL operate in simulated environments where privileged knowledge (e.g., dynamics, surroundings, terrains) is readily available.…

In multi-agent deep reinforcement learning, extracting sufficient and compact information of other agents is critical to attain efficient convergence and scalability of an algorithm. In canonical frameworks, distilling of such information…

Learning from demonstration is an effective method for human users to instruct desired robot behaviour. However, for most non-trivial tasks of practical interest, efficient learning from demonstration depends crucially on inductive bias in…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

Video multimodal fusion aims to integrate multimodal signals in videos, such as visual, audio and text, to make a complementary prediction with multiple modalities contents. However, unlike other image-text multimodal tasks, video has…

We introduce a bottleneck method for learning data representations based on information deficiency, rather than the more traditional information sufficiency. A variational upper bound allows us to implement this method efficiently. The…