相关论文: Neuro-Inspired Inverse Learning for Planning and C…

Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…

In various control task domains, existing controllers provide a baseline level of performance that -- though possibly suboptimal -- should be maintained. Reinforcement learning (RL) algorithms that rely on extensive exploration of the state…

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can…

The remote embodied referring expression (REVERIE) task requires an agent to navigate through complex indoor environments and localize a remote object specified by high-level instructions, such as "bring me a spoon", without…

This paper proposes model-free imitation learning named Entropy-Regularized Imitation Learning (ERIL) that minimizes the reverse Kullback-Leibler (KL) divergence. ERIL combines forward and inverse reinforcement learning (RL) under the…

There are several ways to categorise reinforcement learning (RL) algorithms, such as either model-based or model-free, policy-based or planning-based, on-policy or off-policy, and online or offline. Broad classification schemes such as…

We present a modular approach for learning policies for navigation over long planning horizons from language input. Our hierarchical policy operates at multiple timescales, where the higher-level master policy proposes subgoals to be…

We present a novel intrinsically motivated agent that learns how to control the environment in the fastest possible manner by optimizing learning progress. It learns what can be controlled, how to allocate time and attention, and the…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

This paper proposes an Online Control-Informed Learning (OCIL) framework, which employs the well-established optimal control and state estimation techniques in the field of control to solve a broad class of learning tasks in an online…

Imitation learning (IL) enables agents to acquire skills directly from expert demonstrations, providing a compelling alternative to reinforcement learning. However, prior online IL approaches struggle with complex tasks characterized by…

We present a new operator-theoretic representation learning framework for offline reinforcement learning that recovers the directed temporal geometry of a controlled Markov process from hitting time observations. While prior art often…

Imitation learning (IL) aims to mimic the behavior of an expert in a sequential decision making task by learning from demonstrations, and has been widely applied to robotics, autonomous driving, and autoregressive text generation. The…

Making decisions in complex driving environments is a challenging task for autonomous agents. Imitation learning methods have great potentials for achieving such a goal. Adversarial Inverse Reinforcement Learning (AIRL) is one of the…

Self-supervised learning can significantly improve the performance of downstream tasks, however, the dimensions of learned representations normally lack explicit physical meanings. In this work, we propose a novel self-supervised approach…

Imitation learning is a control design paradigm that seeks to learn a control policy reproducing demonstrations from expert agents. By substituting expert demonstrations for optimal behaviours, the same paradigm leads to the design of…

Humans are spectacular reinforcement learners, constantly learning from and adjusting to experience and feedback. Unfortunately, this doesn't necessarily mean humans are fast learners. When tasks are challenging, learning can become…

Adversarial Imitation Learning (AIL) is a class of algorithms in Reinforcement learning (RL), which tries to imitate an expert without taking any reward from the environment and does not provide expert behavior directly to the policy…

Iterative learning to infer approaches have become popular solvers for inverse problems. However, their memory requirements during training grow linearly with model depth, limiting in practice model expressiveness. In this work, we propose…