相关论文: Understanding Behavior Cloning with Action Quantiz…

Imitation learning trains policies to map from input observations to the actions that an expert would choose. In this setting, distribution shift frequently exacerbates the effect of misattributing expert actions to nuisance correlates…

Learning from human demonstrations (behavior cloning) is a cornerstone of robot learning. However, most behavior cloning algorithms require a large number of demonstrations to learn a task, especially for general tasks that have a large…

Large language models (LLMs) have shown promise as interactive agents that solve tasks through extended sequences of environment interactions. While prior work has primarily focused on system-level optimizations or algorithmic improvements,…

Quantization is wildly taken as a model compression technique, which obtains efficient models by converting floating-point weights and activations in the neural network into lower-bit integers. Quantization has been proven to work well on…

In sequential decision-making environments, the primary approaches for training agents are Reinforcement Learning (RL) and Imitation Learning (IL). Unlike RL, which relies on modeling a reward function, IL leverages expert demonstrations,…

Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we…

Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…

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…

Data scaling has revolutionized fields like natural language processing and computer vision, providing models with remarkable generalization capabilities. In this paper, we investigate whether similar data scaling laws exist in robotics,…

This paper presents a theoretical analysis of two of the most impactful interventions in modern learning from demonstration in robotics and continuous control: the practice of action-chunking (predicting sequences of actions in open-loop)…

Behavioral cloning has proven to be effective for learning sequential decision-making policies from expert demonstrations. However, behavioral cloning often suffers from the causal confusion problem where a policy relies on the noticeable…

Recent advances in Behavior Cloning (BC) have led to strong performance in robotic manipulation, driven by expressive models, sequence modeling of actions, and large-scale demonstration data. However, BC faces significant challenges when…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

Despite recent progress in Reinforcement Learning for robotics applications, many tasks remain prohibitively difficult to solve because of the expensive interaction cost. Transfer learning helps reduce the training time in the target domain…

Large language models (LLMs) achieve strong performance but incur high deployment costs, motivating extremely low-bit but lossy quantization. Existing quantization algorithms mainly focus on improving the numerical accuracy of forward…

General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks. Moreover, they need to acquire a diverse repertoire of…

Incorporating expert demonstrations has empirically helped to improve the sample efficiency of reinforcement learning (RL). This paper quantifies theoretically to what extent this extra information reduces RL's sample complexity. In…

We study the following question in the context of imitation learning for continuous control: how are the underlying stability properties of an expert policy reflected in the sample-complexity of an imitation learning task? We provide the…

Offline reinforcement learning (RL) enables policy optimization from fixed datasets, making it suitable for safety-critical applications where online exploration is infeasible. However, these datasets are often contaminated by adversarial…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…