相关论文: Causal Imitation Learning Under Measurement Error …

Adversarial Imitation Learning (AIL) faces challenges with sample inefficiency because of its reliance on sufficient on-policy data to evaluate the performance of the current policy during reward function updates. In this work, we study the…

A standard assumption for causal inference from observational data is that one has measured a sufficiently rich set of covariates to ensure that within covariate strata, subjects are exchangeable across observed treatment values. Skepticism…

Behavior Foundation Models (BFMs) enable scalable imitation learning (IL) by pretraining task-agnostic representations that can be rapidly adapted to new tasks. However, existing BFMs assume fixed environment dynamics, limiting their…

This paper introduces a novel generalized self-imitation learning ($\textbf{GSIL}$) framework, which effectively and efficiently aligns large language models with offline demonstration data. We develop $\textbf{GSIL}$ by deriving a…

Learning efficiently a causal model of the environment is a key challenge of model-based RL agents operating in POMDPs. We consider here a scenario where the learning agent has the ability to collect online experiences through direct…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action…

Accurate uncertainty quantification is crucial for the safe deployment of machine learning models, and prior research has demonstrated improvements in the calibration of modern language models (LMs). We study in-context learning (ICL), a…

Following the impressive capabilities of in-context learning with large transformers, In-Context Imitation Learning (ICIL) is a promising opportunity for robotics. We introduce Instant Policy, which learns new tasks instantly (without…

In-context learning (ICL) exhibits dual operating modes: task learning, i.e., acquiring a new skill from in-context samples, and task retrieval, i.e., locating and activating a relevant pretrained skill. Recent theoretical work investigates…

In reinforcement learning and imitation learning, an object of central importance is the state distribution induced by the policy. It plays a crucial role in the policy gradient theorem, and references to it--along with the related…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

The abundance of data produced daily from large variety of sources has boosted the need of novel approaches on causal inference analysis from observational data. Observational data often contain noisy or missing entries. Moreover, causal…

Instance- and Label-dependent label Noise (ILN) widely exists in real-world datasets but has been rarely studied. In this paper, we focus on Bounded Instance- and Label-dependent label Noise (BILN), a particular case of ILN where the label…

Many applications of computer vision require the ability to adapt to novel data distributions after deployment. Adaptation requires algorithms capable of continual learning (CL). Continual learners must be plastic to adapt to novel tasks…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Offline model-based reinforcement learning (MBRL) enhances data efficiency by utilizing pre-collected datasets to learn models and policies, especially in scenarios where exploration is costly or infeasible. Nevertheless, its performance…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

We study the problem of sample efficient reinforcement learning, where prior data such as demonstrations are provided for initialization in lieu of a dense reward signal. A natural approach is to incorporate an imitation learning objective,…

As a key component to intuitive cognition and reasoning solutions in human intelligence, causal knowledge provides great potential for reinforcement learning (RL) agents' interpretability towards decision-making by helping reduce the…