相关论文: Learning Diverse Skills for Behavior Models with M…

Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstrations, experts are not always consistent and might…

The Mixture-of-Experts (MoE) architecture is a powerful technique for scaling language models, yet it often suffers from expert homogenization, where experts learn redundant functionalities, thereby limiting MoE's full potential. To address…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Large pretrained visual models exhibit remarkable generalization across diverse recognition tasks. Yet, real-world applications often demand compact models tailored to specific problems. Variants of knowledge distillation have been devised…

Scenarios requiring humans to choose from multiple seemingly optimal actions are commonplace, however standard imitation learning often fails to capture this behavior. Instead, an over-reliance on replicating expert actions induces…

The ability to model intra-modal and inter-modal interactions is fundamental in multimodal machine learning. The current state-of-the-art models usually adopt deep learning models with fixed structures. They can achieve exceptional…

Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where different tasks share a set of actions. In such environments a compound policy may be learnt with shared neural network…

Mixtures of Experts (MoEs) have gained prominence in (self-)supervised learning due to their enhanced inference efficiency, adaptability to distributed training, and modularity. Previous research has illustrated that MoEs can significantly…

Human perception generalizes well across different domains, but most vision models struggle beyond their training data. This gap motivates multi-dataset learning, where a single model is trained on diverse datasets to improve robustness…

Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…

Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-stage tasks and their learned representations of observations…

Imitation learning (IL) provides a data-driven framework for approximating policies for large-scale combinatorial optimisation problems formulated as sequential decision problems (SDPs), where exact solution methods are computationally…

To accelerate learning process with few samples, meta-learning resorts to prior knowledge from previous tasks. However, the inconsistent task distribution and heterogeneity is hard to be handled through a global sharing model…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

Imitation learning enables robots to acquire manipulation skills from demonstrations, yet deploying a policy across tasks with heterogeneous dynamics remains challenging, as models tend to average over distinct behavioral modes present in…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…

In the field of robotic manipulation, deep imitation learning is recognized as a promising approach for acquiring manipulation skills. Additionally, learning from diverse robot datasets is considered a viable method to achieve versatility…

Imitation learning traditionally requires complete state-action demonstrations from optimal or near-optimal experts. These requirements severely limit practical applicability, as many real-world scenarios provide only state observations…