5 accepted papers
Imitation from videos often fails when expert demonstrations and learner environments exhibit domain shifts, such as discrepancies in lighting, color, or texture. While visual randomization partially addresses this problem by augmenting training data, it remains computationally intensive and inheren…
Goal-Conditioned Reinforcement Learning (GCRL) mitigates the difficulty of reward design by framing tasks as goal reaching rather than maximizing hand-crafted reward signals. In this setting, the optimal goal-conditioned value function naturally forms a quasimetric, motivating Quasimetric RL (QRL),…
Real-world robotic tasks often require agents to achieve sequences of goals while respecting time-varying safety constraints. However, standard Reinforcement Learning (RL) paradigms are fundamentally limited in these settings. A natural approach to these problems is to combine RL with Linear-time Te…
Offline Goal-Conditioned Reinforcement Learning (GCRL) holds great promise for domains such as autonomous navigation and locomotion, where collecting interactive data is costly and unsafe. However, it remains challenging in practice due to the need to learn from datasets with limited coverage of the…
We propose C-LAIfO, a computationally efficient algorithm designed for imitation learning from videos in the presence of visual mismatch between agent and expert domains. We analyze the problem of imitation from expert videos with visual discrepancies, and introduce a solution for robust latent spac