5 papers · 1 filter
Problem Space Transformations for Out-of-Distribution Generalisation in Behavioural Cloning
Kiran Doshi, Marco Bagatella, Stelian Coros
The combination of behavioural cloning and neural networks has driven significant progress in robotic manipulation. As these algorithms may require a large number of demonstrations…
Zero-Shot Offline Imitation Learning via Optimal Transport
Thomas Rupf, Marco Bagatella, Nico Gürtler +2
Zero-shot imitation learning algorithms hold the promise of reproducing unseen behavior from as little as a single demonstration at test time. Existing practical approaches view th…
Active Fine-Tuning of Multi-Task Policies
Marco Bagatella, Jonas Hübotter, Georg Martius +1
Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on c…
Directed Exploration in Reinforcement Learning from Linear Temporal Logic
Marco Bagatella, Andreas Krause, Georg Martius
Linear temporal logic (LTL) is a powerful language for task specification in reinforcement learning, as it allows describing objectives beyond the expressivity of conventional disc…
Causal Action Influence Aware Counterfactual Data Augmentation
Núria Armengol Urpí, Marco Bagatella, Marin Vlastelica +1
Offline data are both valuable and practical resources for teaching robots complex behaviors. Ideally, learning agents should not be constrained by the scarcity of available demons…