arXiv subjects

Xingrui Yu

Publications and source records attributed to Xingrui Yu.

27 records · Page 2Linked to original sources

arXiv2025

Diversifying Policy Behaviors with Extrinsic Behavioral Curiosity

Imitation learning (IL) has shown promise in various applications (e.g. robot locomotion) but is often limited to learning a single expert policy, constraining behavior diversity and robustness in unpredictable real-world scenarios. To address this, we introduce Quality Diversity Inverse Reinforcement Learning (QD-IRL), a novel framework that integrates quality-diversity optimization with IRL methods, enabling agents to learn diverse behaviors from limited demonstrations. This work introduces Extrinsic Behavioral Curiosity (EBC), which allows agents to receive additional curiosity rewards from an external critic based on how novel the behaviors are with respect to a large behavioral archive. To validate the effectiveness of EBC in exploring diverse locomotion behaviors, we evaluate our method on multiple robot locomotion tasks. EBC improves the performance of QD-IRL instances with GAIL, VAIL, and DiffAIL across all included environments by up to 185%, 42%, and 150%, even surpassing expert performance by 20% in Humanoid. Furthermore, we demonstrate that EBC is applicable to Gradient-Arborescence-based Quality Diversity Reinforcement Learning (QD-RL) algorithms, where it substantially improves performance and provides a generic technique for learning behavioral-diverse policies. The source code of this work is provided at https://github.com/vanzll/EBC.

cs.LG↗

arXiv2025

Beyond-Expert Performance with Limited Demonstrations: Efficient Imitation Learning with Double Exploration

Imitation learning is a central problem in reinforcement learning where the goal is to learn a policy that mimics the expert's behavior. In practice, it is often challenging to learn the expert policy from a limited number of demonstrations accurately due to the complexity of the state space. Moreover, it is essential to explore the environment and collect data to achieve beyond-expert performance. To overcome these challenges, we propose a novel imitation learning algorithm called Imitation Learning with Double Exploration (ILDE), which implements exploration in two aspects: (1) optimistic policy optimization via an exploration bonus that rewards state-action pairs with high uncertainty to potentially improve the convergence to the expert policy, and (2) curiosity-driven exploration of the states that deviate from the demonstration trajectories to potentially yield beyond-expert performance. Empirically, we demonstrate that ILDE outperforms the state-of-the-art imitation learning algorithms in terms of sample efficiency and achieves beyond-expert performance on Atari and MuJoCo tasks with fewer demonstrations than in previous work. We also provide a theoretical justification of ILDE as an uncertainty-regularized policy optimization method with optimistic exploration, leading to a regret growing sublinearly in the number of episodes.

cs.LG↗

arXiv2025

Self-Adaptive Gamma Context-Aware SSM-based Model for Metal Defect Detection

Metal defect detection is critical in industrial quality assurance, yet existing methods struggle with grayscale variations and complex defect states, limiting its robustness. To address these challenges, this paper proposes a Self-Adaptive Gamma Context-Aware SSM-based model(GCM-DET). This advanced detection framework integrating a Dynamic Gamma Correction (GC) module to enhance grayscale representation and optimize feature extraction for precise defect reconstruction. A State-Space Search Management (SSM) architecture captures robust multi-scale features, effectively handling defects of varying shapes and scales. Focal Loss is employed to mitigate class imbalance and refine detection accuracy. Additionally, the CD5-DET dataset is introduced, specifically designed for port container maintenance, featuring significant grayscale variations and intricate defect patterns. Experimental results demonstrate that the proposed model achieves substantial improvements, with mAP@0.5 gains of 27.6\%, 6.6\%, and 2.6\% on the CD5-DET, NEU-DET, and GC10-DET datasets.

cs.CV↗

arXiv2025

Imitation from Diverse Behaviors: Wasserstein Quality Diversity Imitation Learning with Single-Step Archive Exploration

Learning diverse and high-performance behaviors from a limited set of demonstrations is a grand challenge. Traditional imitation learning methods usually fail in this task because most of them are designed to learn one specific behavior even with multiple demonstrations. Therefore, novel techniques for \textit{quality diversity imitation learning}, which bridges the quality diversity optimization and imitation learning methods, are needed to solve the above challenge. This work introduces Wasserstein Quality Diversity Imitation Learning (WQDIL), which 1) improves the stability of imitation learning in the quality diversity setting with latent adversarial training based on a Wasserstein Auto-Encoder (WAE), and 2) mitigates a behavior-overfitting issue using a measure-conditioned reward function with a single-step archive exploration bonus. Empirically, our method significantly outperforms state-of-the-art IL methods, achieving near-expert or beyond-expert QD performance on the challenging continuous control tasks derived from MuJoCo environments.

cs.LG↗

arXiv2020

SIGUA: Forgetting May Make Learning with Noisy Labels More Robust

Given data with noisy labels, over-parameterized deep networks can gradually memorize the data, and fit everything in the end. Although equipped with corrections for noisy labels, many learning methods in this area still suffer overfitting due to undesired memorization. In this paper, to relieve this issue, we propose stochastic integrated gradient underweighted ascent (SIGUA): in a mini-batch, we adopt gradient descent on good data as usual, and learning-rate-reduced gradient ascent on bad data; the proposal is a versatile approach where data goodness or badness is w.r.t. desired or undesired memorization given a base learning method. Technically, SIGUA pulls optimization back for generalization when their goals conflict with each other; philosophically, SIGUA shows forgetting undesired memorization can reinforce desired memorization. Experiments demonstrate that SIGUA successfully robustifies two typical base learning methods, so that their performance is often significantly improved.

cs.LG↗

arXiv2020

Intrinsic Reward Driven Imitation Learning via Generative Model

Imitation learning in a high-dimensional environment is challenging. Most inverse reinforcement learning (IRL) methods fail to outperform the demonstrator in such a high-dimensional environment, e.g., Atari domain. To address this challenge, we propose a novel reward learning module to generate intrinsic reward signals via a generative model. Our generative method can perform better forward state transition and backward action encoding, which improves the module's dynamics modeling ability in the environment. Thus, our module provides the imitation agent both the intrinsic intention of the demonstrator and a better exploration ability, which is critical for the agent to outperform the demonstrator. Empirical results show that our method outperforms state-of-the-art IRL methods on multiple Atari games, even with one-life demonstration. Remarkably, our method achieves performance that is up to 5 times the performance of the demonstration.

cs.LG↗

arXiv2019

How does Disagreement Help Generalization against Label Corruption?

Learning with noisy labels is one of the hottest problems in weakly-supervised learning. Based on memorization effects of deep neural networks, training on small-loss instances becomes very promising for handling noisy labels. This fosters the state-of-the-art approach "Co-teaching" that cross-trains two deep neural networks using the small-loss trick. However, with the increase of epochs, two networks converge to a consensus and Co-teaching reduces to the self-training MentorNet. To tackle this issue, we propose a robust learning paradigm called Co-teaching+, which bridges the "Update by Disagreement" strategy with the original Co-teaching. First, two networks feed forward and predict all data, but keep prediction disagreement data only. Then, among such disagreement data, each network selects its small-loss data, but back propagates the small-loss data from its peer network and updates its own parameters. Empirical results on benchmark datasets demonstrate that Co-teaching+ is much superior to many state-of-the-art methods in the robustness of trained models.

cs.LG↗

arXiv2019

Deep Adversarial Learning in Intrusion Detection: A Data Augmentation Enhanced Framework

Intrusion detection systems (IDSs) play an important role in identifying malicious attacks and threats in networking systems. As fundamental tools of IDSs, learning based classification methods have been widely employed. When it comes to detecting network intrusions in small sample sizes (e.g., emerging intrusions), the limited number and imbalanced proportion of training samples usually cause significant challenges in training supervised and semi-supervised classifiers. In this paper, we propose a general network intrusion detection framework to address the challenges of both \emph{data scarcity} and \emph{data imbalance}. The novelty of the proposed framework focuses on incorporating deep adversarial learning with statistical learning and exploiting learning based data augmentation. Given a small set of network intrusion samples, it first derives a Poisson-Gamma joint probabilistic generative model to generate synthesised intrusion data using Monte Carlo methods. Those synthesised data are then augmented by deep generative neural networks through adversarial learning. Finally, it adopts the augmented intrusion data to train supervised models for detecting network intrusions. Comprehensive experimental validations on KDD Cup 99 dataset show that the proposed framework outperforms the existing learning based IDSs in terms of improved accuracy, precision, recall, and F1-score.

cs.CR↗

arXiv2018

Co-teaching: Robust Training of Deep Neural Networks with Extremely Noisy Labels

Deep learning with noisy labels is practically challenging, as the capacity of deep models is so high that they can totally memorize these noisy labels sooner or later during training. Nonetheless, recent studies on the memorization effects of deep neural networks show that they would first memorize training data of clean labels and then those of noisy labels. Therefore in this paper, we propose a new deep learning paradigm called Co-teaching for combating with noisy labels. Namely, we train two deep neural networks simultaneously, and let them teach each other given every mini-batch: firstly, each network feeds forward all data and selects some data of possibly clean labels; secondly, two networks communicate with each other what data in this mini-batch should be used for training; finally, each network back propagates the data selected by its peer network and updates itself. Empirical results on noisy versions of MNIST, CIFAR-10 and CIFAR-100 demonstrate that Co-teaching is much superior to the state-of-the-art methods in the robustness of trained deep models.

cs.LG↗