相关论文: Learning from Demonstrations via Capability-Aware …

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

A general framework of unsupervised learning for combinatorial optimization (CO) is to train a neural network (NN) whose output gives a problem solution by directly optimizing the CO objective. Albeit with some advantages over traditional…

In standard passive imitation learning, the goal is to learn a target policy by passively observing full execution trajectories of it. Unfortunately, generating such trajectories can require substantial expert effort and be impractical in…

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…

We propose WayEx, a new method for learning complex goal-conditioned robotics tasks from a single demonstration. Our approach distinguishes itself from existing imitation learning methods by demanding fewer expert examples and eliminating…

Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Imitation learning trains a policy by mimicking expert demonstrations. Various imitation methods were proposed and empirically evaluated, meanwhile, their theoretical understanding needs further studies. In this paper, we firstly analyze…

In this work, we explore a novel framework for control of complex systems called Primitive Imitation for Control PICO. The approach combines ideas from imitation learning, task decomposition, and novel task sequencing to generalize from…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

Learning from demonstrations (LfD) is an efficient paradigm to train AI agents. But major issues arise when there are differences between (a) the demonstrator's own sensory input, (b) our sensors that observe the demonstrator and (c) the…

When handling streaming graphs, existing graph representation learning models encounter a catastrophic forgetting problem, where previously learned knowledge of these models is easily overwritten when learning with newly incoming graphs. In…

Learning adaptive visuomotor policies for embodied agents remains a formidable challenge, particularly when facing cross-embodiment variations such as diverse sensor configurations and dynamic properties. Conventional learning approaches…

Consider the following problem: given a few demonstrations of a task across a few different objects, how can a robot learn to perform that same task on new, previously unseen objects? This is challenging because the large variety of objects…

Learning to perform activities through demonstration requires extracting meaningful information about the environment from observations. In this research, we investigate the challenge of planning high-level goal-oriented actions in a…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

Continual learning (CL) aims to acquire new knowledge while preserving information from previous experiences without forgetting. Though buffer-based methods (i.e., retaining samples from previous tasks) have achieved acceptable performance,…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…