相关论文: Active Constraint Learning in High Dimensions from…

In complex environments with high dimension, training a reinforcement learning (RL) model from scratch often suffers from lengthy and tedious collection of agent-environment interactions. Instead, leveraging expert demonstration to guide RL…

The emergence of long-context large language models (LLMs) has enabled the use of hundreds, or even thousands, of demonstrations for in-context learning (ICL) - a previously impractical regime. This paper investigates whether traditional…

Learning-from-demonstrations is an emerging paradigm to obtain effective robot control policies for complex tasks via reinforcement learning without the need to explicitly design reward functions. However, it is susceptible to imperfections…

Deep neural networks have achieved state-of-the-art performance in a wide range of recognition/classification tasks. However, when applying deep learning to real-world applications, there are still multiple challenges. A typical challenge…

Modelling the behaviour of highly nonlinear dynamical systems with robust uncertainty quantification is a challenging task which typically requires approaches specifically designed to address the problem at hand. We introduce a…

Maximum likelihood constraint inference is a powerful technique for identifying unmodeled constraints that affect the behavior of a demonstrator acting under a known objective function. However, it was originally formulated only for…

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…

The prevailing approach to embedding prior knowledge within convolutional layers typically includes the design of steerable kernels or their modulation using designated kernel banks. In this study, we introduce the Analytic Convolutional…

The complexity of learning problems, such as Generative Adversarial Network (GAN) and its variants, multi-task and meta-learning, hyper-parameter learning, and a variety of real-world vision applications, demands a deeper understanding of…

In-context learning (ICL) enables large language models (LLMs) to acquire new behaviors from the input sequence alone without any parameter updates. Recent studies have shown that ICL can surpass the original meaning learned in pretraining…

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…

Learning from data of past tasks can substantially improve the accuracy of mechatronic systems. Often, for fast and safe learning a model of the system is required. The aim of this paper is to develop a model-free approach for fast and safe…

In-context learning (ICL) emerges as a promising capability of large language models (LLMs) by providing them with demonstration examples to perform diverse tasks. However, the underlying mechanism of how LLMs learn from the provided…

In-context learning (ICL) has emerged as a powerful paradigm for Large Visual Language Models (LVLMs), enabling them to leverage a few examples directly from input contexts. However, the effectiveness of this approach is heavily reliant on…

Inverse Constraint Learning (ICL) is the problem of inferring constraints from safe (i.e., constraint-satisfying) demonstrations. The hope is that these inferred constraints can then be used downstream to search for safe policies for new…

In Imitation Learning (IL), utilizing suboptimal and heterogeneous demonstrations presents a substantial challenge due to the varied nature of real-world data. However, standard IL algorithms consider these datasets as homogeneous, thereby…

Active learning (AL) reduces labeling cost by querying informative samples, but in tabular settings its cold-start gains are often limited because uncertainty estimates are unreliable when models are trained on very few labels. Tabular…

Inverse reinforcement learning (IRL) methods assume that the expert data is generated by an agent optimizing some reward function. However, in many settings, the agent may optimize a reward function subject to some constraints, where the…

Active learning (AL) aims to enable training high performance classifiers with low annotation cost by predicting which subset of unlabelled instances would be most beneficial to label. The importance of AL has motivated extensive research,…

Recent advancements in large language models (LLMs) have revolutionized code intelligence by improving programming productivity and alleviating challenges faced by software developers. To further improve the performance of LLMs on specific…