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Recent developments in multi-agent imitation learning have shown promising results for modeling the behavior of human drivers. However, it is challenging to capture emergent traffic behaviors that are observed in real-world datasets. Such…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

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…

In multi-agent systems, complex interacting behaviors arise due to the high correlations among agents. However, previous work on modeling multi-agent interactions from demonstrations is primarily constrained by assuming the independence…

Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…

Often times in imitation learning (IL), the environment we collect expert demonstrations in and the environment we want to deploy our learned policy in aren't exactly the same (e.g. demonstrations collected in simulation but deployment in…

Imitation learning targets deriving a mapping from states to actions, a.k.a. policy, from expert demonstrations. Existing methods for imitation learning typically require any actions in the demonstrations to be fully available, which is…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…

Human beings are able to understand objectives and learn by simply observing others perform a task. Imitation learning methods aim to replicate such capabilities, however, they generally depend on access to a full set of optimal states and…

We propose a novel approach to train a multi-modal policy from mixed demonstrations without their behavior labels. We develop a method to discover the latent factors of variation in the demonstrations. Specifically, our method is based on…

Many existing imitation learning datasets are collected from multiple demonstrators, each with different expertise at different parts of the environment. Yet, standard imitation learning algorithms typically treat all demonstrators as…

We propose an imitation learning system for autonomous driving in urban traffic with interactions. We train a Behavioral Cloning~(BC) policy to imitate driving behavior collected from the real urban traffic, and apply the data aggregation…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Imitation learning has been widely applied to various autonomous systems thanks to recent development in interactive algorithms that address covariate shift and compounding errors induced by traditional approaches like behavior cloning.…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Autonomous driving has achieved significant progress in recent years, but autonomous cars are still unable to tackle high-risk situations where a potential accident is likely. In such near-accident scenarios, even a minor change in the…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…