62,868 research outputs found
Learn what matters: cross-domain imitation learning with task-relevant embeddings
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 agent from demonstrations of a human expert. We propose a scalable framework that enables cross-domain imitation learning without access to additional demonstrations or further domain knowledge. We jointly train the learner agent's policy and learn a mapping between the learner and expert domains with adversarial training. We effect this by using a mutual information criterion to find an embedding of the expert's state space that contains task-relevant information and is invariant to domain specifics. This step significantly simplifies estimating the mapping between the learner and expert domains and hence facilitates end-to-end learning. We demonstrate successful transfer of policies between considerably different domains, without extra supervision such as additional demonstrations, and in situations where other methods fail
Graph Distillation for Action Detection with Privileged Modalities
We propose a technique that tackles action detection in multimodal videos
under a realistic and challenging condition in which only limited training data
and partially observed modalities are available. Common methods in transfer
learning do not take advantage of the extra modalities potentially available in
the source domain. On the other hand, previous work on multimodal learning only
focuses on a single domain or task and does not handle the modality discrepancy
between training and testing. In this work, we propose a method termed graph
distillation that incorporates rich privileged information from a large-scale
multimodal dataset in the source domain, and improves the learning in the
target domain where training data and modalities are scarce. We evaluate our
approach on action classification and detection tasks in multimodal videos, and
show that our model outperforms the state-of-the-art by a large margin on the
NTU RGB+D and PKU-MMD benchmarks. The code is released at
http://alan.vision/eccv18_graph/.Comment: ECCV 201
Coordinated Multi-Agent Imitation Learning
We study the problem of imitation learning from demonstrations of multiple
coordinating agents. One key challenge in this setting is that learning a good
model of coordination can be difficult, since coordination is often implicit in
the demonstrations and must be inferred as a latent variable. We propose a
joint approach that simultaneously learns a latent coordination model along
with the individual policies. In particular, our method integrates unsupervised
structure learning with conventional imitation learning. We illustrate the
power of our approach on a difficult problem of learning multiple policies for
fine-grained behavior modeling in team sports, where different players occupy
different roles in the coordinated team strategy. We show that having a
coordination model to infer the roles of players yields substantially improved
imitation loss compared to conventional baselines.Comment: International Conference on Machine Learning 201
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