相关论文: Imitation learning for clinical decision support i…

Imitation learning is a well-established approach for machine-learning-based control. However, its applicability depends on having access to demonstrations, which are often expensive to collect and/or suboptimal for solving the task. In…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or…

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…

Learning from observation (LfO) aims to imitate experts by learning from state-only demonstrations without requiring action labels. Existing adversarial imitation learning approaches learn a generator agent policy to produce state…

Imitation of expert behaviour is a highly desirable and safe approach to the problem of sequential decision making. We provide an easy-to-implement, novel algorithm for imitation learning under a strict data paradigm, in which the agent…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…

Optical sensing technologies are emerging technologies used in cancer surgeries to ensure the complete removal of cancerous tissue. While point-wise assessment has many potential applications, incorporating automated large area scanning…

Model-based reinforcement learning approaches carry the promise of being data efficient. However, due to challenges in learning dynamics models that sufficiently match the real-world dynamics, they struggle to achieve the same asymptotic…

Clinical machine learning deployment across institutions faces significant challenges when patient populations and clinical practices differ substantially. We present a systematic framework for cross-institutional knowledge transfer in…

Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimensional visual observations. A key reason…

We study how an autonomous agent learns to perform a task from demonstrations in a different domain, such as a different environment or different agent. Such cross-domain imitation learning is required to, for example, train an artificial…

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…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

Gradient descent computed by backpropagation (BP) is a widely used learning method for training artificial neural networks but has several limitations: it is computationally demanding, requires frequent manual tuning of the network…

Offline imitation from observations aims to solve MDPs where only task-specific expert states and task-agnostic non-expert state-action pairs are available. Offline imitation is useful in real-world scenarios where arbitrary interactions…

Identifying oculomotor behaviors relevant for eye-tracking applications is a critical but often challenging task. Aiming to automatically learn and extract knowledge from existing eye-tracking data, we develop a novel method that creates…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Autonomous driving systems have a pipeline of perception, decision, planning, and control. The decision module processes information from the perception module and directs the execution of downstream planning and control modules. On the…