相关论文: Scaling Behavior Cloning Improves Causal Reasoning…

Behavioural cloning, where a computer is taught to perform a task based on demonstrations, has been successfully applied to various video games and robotics tasks, with and without reinforcement learning. This also includes end-to-end…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

Acquiring multiple skills has commonly involved collecting a large number of expert demonstrations per task or engineering custom reward functions. Recently it has been shown that it is possible to acquire a diverse set of skills by…

In this work, we introduce a self-supervised behavior cloning transformer for text games, which are challenging benchmarks for multi-step reasoning in virtual environments. Traditionally, Behavior Cloning Transformers excel in such tasks…

Data scaling has revolutionized research fields like natural language processing, computer vision, and robotics control, providing foundation models with remarkable multi-task and generalization capabilities. In this paper, we investigate…

When trained on large-scale object classification datasets, certain artificial neural network models begin to approximate core object recognition behaviors and neural response patterns in the primate brain. While recent machine learning…

Neural scaling laws define a predictable relationship between a model's parameter count and its performance after training in the form of a power law. However, most research to date has not explicitly investigated whether scaling laws can…

Behavioral cloning is an imitation learning technique that teaches an agent how to behave through expert demonstrations. Recent approaches use self-supervision of fully-observable unlabeled snapshots of the states to decode state-pairs into…

Behavioral cloning reduces policy learning to supervised learning by training a discriminative model to predict expert actions given observations. Such discriminative models are non-causal: the training procedure is unaware of the causal…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is…

Scaling laws are useful guides for derisking expensive training runs, as they predict performance of large models using cheaper, small-scale experiments. However, there remain gaps between current scaling studies and how language models are…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

The performance of embodied agents has been shown to improve by increasing model parameters, dataset size, and compute. This has been demonstrated in domains from robotics to video games, when generative learning objectives on offline…

Neural scaling laws have driven significant advancements in machine learning, particularly in domains like language modeling and computer vision. However, the exploration of neural scaling laws within robotics has remained relatively…

In repeated interactions between individuals, we do not expect that exactly the same situation will occur from one time to another. Contrary to what is common in models of repeated games in the literature, most real situations may differ a…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

Humans rapidly learn abstract knowledge when encountering novel environments and flexibly deploy this knowledge to guide efficient and intelligent action. Can modern AI systems learn and plan in a similar way? We study this question using a…

We study the empirical scaling laws of a family of encoder-decoder autoregressive transformer models on the task of joint motion forecasting and planning in the autonomous driving domain. Using a 500 thousand hours driving dataset, we…

We argue that 3-D first-person video games are a challenging environment for real-time multi-modal reasoning. We first describe our dataset of human game-play, collected across a large variety of 3-D first-person games, which is both…