Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 9 of 9 for “"Behavior Cloning"”.
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Adaptive Planning in Changing Policies and Environments
… adjacent trajectories together in a new form of behavior cloning we call bundle behavior cloning. Our complexity analysis shows that using bundle behavior cloning, we can attain a tighter bound on the difference between the distribution of the cloned policy and that of the true policy than the …
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MeMo: Meaningful, Modular Controllers via Noise Injection
… can be optimized simultaneously with standard behavior cloning loss via noise injection. We benchmark our framework in locomotion and grasping environments on simple to complex robot morphology transfer. We also show that the modules help in task transfer. On both structure and task transfer, …
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Exploring the Role of Foundation Models for Training Generalist Robot Learning Policies
… to improve upon the generalization ability of behavior cloning policies. Moving away from the use of videos for training, we explore using privileged representations such as keypoints or object-poses learned using open-set foundation models. By tracking pose or keypoint correspondences, the aim …
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Imitation Learning with Superhuman Policy Gradient Optimization for Sequential Cancer Treatment Decisions
… and reproducible training. Unlike conventional behavior cloning, SPGO optimizes a subdominance loss that explicitly rewards surpassing the expert across multiple clinical outcomes, including relapse at year three and patient-reported toxicities at multiple follow- up times. We systematically …
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Modeling Diverse Treatment Policies from Observational Health Data
… real world tasks often requires modeling human behavior, especially in domains like healthcare and driving. In these settings, skills are learned from expert human demonstrations, but such data are typically multimodal, violating the common single expert assumption. We study sequential clinical …
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Text-based Simulation for Scientific Reasoning
… method is proposed to automatically train behavior cloning agents. On the environment development side, manually created text-based simulators struggle to scale and accommodate the diverse needs of scientific tasks. To address this limitation, in Chapter 5 and Chapter 6, this dissertation …
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Learning to Make Decisions in Robotic Manipulation
… thesis, we show that a combination of ACED with behavior cloning allows pick-and-place tasks to be learned with as few as one demonstration and block stacking tasks to be learned with twenty demonstrations.
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Robot See, Robot Do: On the Development of Robust and Adaptive Imitation Learning for Robots
… robots to learn complex tasks by mimicking human behavior. However, traditional imitation learning approaches face key challenges in integrating diverse feedback types, managing noisy and inconsistent inputs, and maintaining stability in learning. In this thesis, we develop imitation learning …
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Structure-utilized, Adaptive, and Efficient ML-based Proportional-Fair Scheduling in MIMO Networks for Non-stationary Channels
Proportional Fair (PF) scheduling is widely used in multi-user MIMO systems to balance throughput and fairness. However, PF scheduling is an NP-hard problem, and hence, practical deployments approximate the optimal solution for lower latency at the cost of sub-optimal performance. More recently, …