相关论文: Structured Imitation Learning of Interactive Polic…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

While advances in multi-agent learning have enabled the training of increasingly complex agents, most existing techniques produce a final policy that is not designed to adapt to a new partner's strategy. However, we would like our AI agents…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

In this work, we propose a method for learning driver models that account for variables that cannot be observed directly. When trained on a synthetic dataset, our models are able to learn encodings for vehicle trajectories that distinguish…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Multi-agent imitation learning aims to train multiple agents to perform tasks from demonstrations by learning a mapping between observations and actions, which is essential for understanding physical, social, and team-play systems. However,…

The ability to act in multiple environments and transfer previous knowledge to new situations can be considered a critical aspect of any intelligent agent. Towards this goal, we define a novel method of multitask and transfer learning that…

The multiagent-based participatory simulation features prominently in urban planning as the acquired model is considered as the hybrid system of the domain and the local knowledge. However, the key problem of generating realistic agents for…

Interactive behavior modeling of multiple agents is an essential challenge in simulation, especially in scenarios when agents need to avoid collisions and cooperate at the same time. Humans can interact with others without explicit…

Social learning plays an important role in the development of human intelligence. As children, we imitate our parents' speech patterns until we are able to produce sounds; we learn from them praising us and scolding us; and as adults, we…

When developing reinforcement learning agents, the standard approach is to train an agent to converge to a fixed policy that is as close to optimal as possible for a single fixed reward function. If different agent behaviour is required in…

Autonomous and learning systems based on Deep Reinforcement Learning have firmly established themselves as a foundation for approaches to creating resilient and efficient Cyber-Physical Energy Systems. However, most current approaches…

Human learning and intelligence work differently from the supervised pattern recognition approach adopted in most deep learning architectures. Humans seem to learn rich representations by exploration and imitation, build causal models of…

An unaddressed challenge in multi-agent coordination is to enable AI agents to exploit the semantic relationships between the features of actions and the features of observations. Humans take advantage of these relationships in highly…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

This paper concerns imitation learning (IL) (i.e, the problem of learning to mimic expert behaviors from demonstrations) in cooperative multi-agent systems. The learning problem under consideration poses several challenges, characterized by…

A growing body of research suggests that embodied gameplay, prevalent not just in human cultures but across a variety of animal species including turtles and ravens, is critical in developing the neural flexibility for creative problem…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

We propose a new framework for imitation learning -- treating imitation as a two-player ranking-based game between a policy and a reward. In this game, the reward agent learns to satisfy pairwise performance rankings between behaviors,…

In this paper, we describe a novel approach to imitation learning that infers latent policies directly from state observations. We introduce a method that characterizes the causal effects of latent actions on observations while…