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

People's goal-directed behaviors are influenced by their cognitive biases, and autonomous systems that interact with people should be aware of this. For example, people's attention to objects in their environment will be biased in a way…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

Recent works have shown that sequence modeling can be effectively used to train reinforcement learning (RL) policies. However, the success of applying existing sequence models to planning, in which we wish to obtain a trajectory of actions…

In aims to uncover insights into medical decision-making embedded within observational data from clinical settings, we present a novel application of Inverse Reinforcement Learning (IRL) that identifies suboptimal clinician actions based on…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

This paper demonstrates that continual relearning of control policies using incremental deep reinforcement learning (RL) can improve policy learning for non-stationary processes. We demonstrate this approach for a data-driven 'smart…

We study Imitation Learning (IL) from Observations alone (ILFO) in large-scale MDPs. While most IL algorithms rely on an expert to directly provide actions to the learner, in this setting the expert only supplies sequences of observations.…

A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…

We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…

In tasks aiming for long-term returns, planning becomes essential. We study generative modeling for planning with datasets repurposed from offline reinforcement learning. Specifically, we identify temporal consistency in the absence of…

Sample efficiency has been a key issue in reinforcement learning (RL). An efficient agent must be able to leverage its prior experiences to quickly adapt to similar, but new tasks and situations. Meta-RL is one attempt at formalizing and…

Inverse Reinforcement Learning (IRL) learns an optimal policy, given some expert demonstrations, thus avoiding the need for the tedious process of specifying a suitable reward function. However, current methods are constrained by at least…

In recent years, imitation learning (IL) has been widely used in industry as the core of autonomous vehicle (AV) planning modules. However, previous IL works show sample inefficiency and low generalisation in safety-critical scenarios, on…

Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…

We study the problem of inverse reinforcement learning (IRL), where the learning agent recovers a reward function using expert demonstrations. Most of the existing IRL techniques make the often unrealistic assumption that the agent has…

Inverse Reinforcement Learning (IRL) has demonstrated effectiveness in a variety of imitation tasks. In this paper, we introduce an IRL framework designed to extract rewarding features from expert trajectories affected by delayed…

Our goal is for agents to optimize the right reward function, despite how difficult it is for us to specify what that is. Inverse Reinforcement Learning (IRL) enables us to infer reward functions from demonstrations, but it usually assumes…

Learning accurate and stable time-advancement operators for nonlinear partial differential equations (PDEs) remains challenging, particularly for chaotic, stiff, and long-horizon dynamical systems. While neural operator methods such as the…

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…