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Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Deriving robust control policies for realistic urban navigation scenarios is not a trivial task. In an end-to-end approach, these policies must map high-dimensional images from the vehicle's cameras to low-level actions such as steering and…

Deep generative models have recently shown great promise in imitation learning for motor control. Given enough data, even supervised approaches can do one-shot imitation learning; however, they are vulnerable to cascading failures when the…

Generative adversarial imitation learning (GAIL) has shown promising results by taking advantage of generative adversarial nets, especially in the field of robot learning. However, the requirement of isolated single modal demonstrations…

Crowd behavior understanding is crucial yet challenging across a wide range of applications, since crowd behavior is inherently determined by a sequential decision-making process based on various factors, such as the pedestrians' own…

GAIL is a recent successful imitation learning architecture that exploits the adversarial training procedure introduced in GANs. Albeit successful at generating behaviours similar to those demonstrated to the agent, GAIL suffers from a high…

Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…

Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…

Reinforcement learning for multi-goal robot manipulation tasks poses significant challenges due to the diversity and complexity of the goal space. Techniques such as Hindsight Experience Replay (HER) have been introduced to improve learning…

Autonomous driving is a complex task, which has been tackled since the first self-driving car ALVINN in 1989, with a supervised learning approach, or behavioral cloning (BC). In BC, a neural network is trained with state-action pairs that…

An open problem in autonomous vehicle safety validation is building reliable models of human driving behavior in simulation. This work presents an approach to learn neural driving policies from real world driving demonstration data. We…

Generative adversarial imitation learning (GAIL) is a model-free algorithm that has been shown to provide strong results in imitating complex behaviors in high-dimensional environments. In this paper, we utilize the GAIL model for text…

Imitation learning algorithms learn viable policies by imitating an expert's behavior when reward signals are not available. Generative Adversarial Imitation Learning (GAIL) is a state-of-the-art algorithm for learning policies when the…

Generative adversarial imitation learning (GAIL) has attracted increasing attention in the field of robot learning. It enables robots to learn a policy to achieve a task demonstrated by an expert while simultaneously estimating the reward…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

Decision-making in long-tail scenarios is pivotal to autonomous-driving development, and realistic and challenging simulations play a crucial role in testing safety-critical situations. However, existing open-source datasets lack systematic…

The introduction of the generative adversarial imitation learning (GAIL) algorithm has spurred the development of scalable imitation learning approaches using deep neural networks. Many of the algorithms that followed used a similar…

Generative adversarial imitation learning (GAIL) is a popular inverse reinforcement learning approach for jointly optimizing policy and reward from expert trajectories. A primary question about GAIL is whether applying a certain policy…

Generative Adversarial Imitation Learning (GAIL) is a powerful and practical approach for learning sequential decision-making policies. Different from Reinforcement Learning (RL), GAIL takes advantage of demonstration data by experts (e.g.,…

Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them.…