相关论文: Non-expert to Expert Motion Translation Using Gene…

Generation of maps from satellite images is conventionally done by a range of tools. Maps became an important part of life whose conversion from satellite images may be a bit expensive but Generative models can pander to this challenge.…

Transfer of pre-trained representations can improve sample efficiency and reduce computational requirements for new tasks. However, representations used for transfer are usually generic, and are not tailored to a particular distribution of…

While most machine translation systems to date are trained on large parallel corpora, humans learn language in a different way: by being grounded in an environment and interacting with other humans. In this work, we propose a communication…

Generalizing skill policies to novel conditions remains a key challenge in robot learning. Imitation learning methods, while data-efficient, are largely confined to the training region and consistently fail on input data outside it, leading…

Generative adversarial networks have gained a lot of attention in the computer vision community due to their capability of data generation without explicitly modelling the probability density function. The adversarial loss brought by the…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

We consider the problem of using expert data with unobserved confounders for imitation and reinforcement learning. We begin by defining the problem of learning from confounded expert data in a contextual MDP setup. We analyze the…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coach-applied guidance--to acquire skills like walking,…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

Recent results show that features of adversarially trained networks for classification, in addition to being robust, enable desirable properties such as invertibility. The latter property may seem counter-intuitive as it is widely accepted…

Continuously learning to solve unseen tasks with limited experience has been extensively pursued in meta-learning and continual learning, but with restricted assumptions such as accessible task distributions, independently and identically…

Transfer learning from pretrained language models recently became the dominant approach for solving many NLP tasks. A common approach to transfer learning for multiple tasks that maximize parameter sharing trains one or more task-specific…

Transfer learning can be applied in deep reinforcement learning to accelerate the training of a policy in a target task by transferring knowledge from a policy learned in a related source task. This is commonly achieved by copying…

Gradient-based attention modeling has been used widely as a way to visualize and understand convolutional neural networks. However, exploiting these visual explanations during the training of generative adversarial networks (GANs) is an…

Various adaptive abilities are required for robots interacting with humans in daily life. It is difficult to design adaptive algorithms manually; however, by using end-to-end machine learning, labor can be saved during the design process.…

There is a recent surge in interest for imitation learning, with large human video-game and robotic manipulation datasets being used to train agents on very complex tasks. While deep neuroevolution has recently been shown to match the…

The ability of the Generative Adversarial Networks (GANs) framework to learn generative models mapping from simple latent distributions to arbitrarily complex data distributions has been demonstrated empirically, with compelling results…

Adaptable models could greatly benefit robotic agents operating in the real world, allowing them to deal with novel and varying conditions. While approaches such as Bayesian inference are well-studied frameworks for adapting models to…

Meta-learning is a practical learning paradigm to transfer skills across tasks from a few examples. Nevertheless, the existence of task distribution shifts tends to weaken meta-learners' generalization capability, particularly when the…