Related papers: State-only Imitation with Transition Dynamics Mism…
Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at test time, due to compounding errors in action prediction…
Practical Imitation Learning (IL) systems rely on large human demonstration datasets for successful policy learning. However, challenges lie in maintaining the quality of collected data and addressing the suboptimal nature of some…
This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…
Consider learning a policy purely on the basis of demonstrated behavior -- that is, with no access to reinforcement signals, no knowledge of transition dynamics, and no further interaction with the environment. This *strictly batch…
Learning a near optimal policy in a partially observable system remains an elusive challenge in contemporary reinforcement learning. In this work, we consider episodic reinforcement learning in a reward-mixing Markov decision process (MDP).…
Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…
Imitation Learning (IL) has achieved remarkable success across various domains, including robotics, autonomous driving, and healthcare, by enabling agents to learn complex behaviors from expert demonstrations. However, existing IL methods…
We study the problem of offline imitation learning in Markov decision processes (MDPs), where the goal is to learn a well-performing policy given a dataset of state-action pairs generated by an expert policy. Complementing a recent line of…
Imitation learning aims to solve the problem of defining reward functions in real-world decision-making tasks. The current popular approach is the Adversarial Imitation Learning (AIL) framework, which matches expert state-action occupancy…
General purpose intelligent learning agents cycle through (complex,non-MDP) sequences of observations, actions, and rewards. On the other hand, reinforcement learning is well-developed for small finite state Markov Decision Processes…
How to make imitation learning more general when demonstrations are relatively limited has been a persistent problem in reinforcement learning (RL). Poor demonstrations lead to narrow and biased date distribution, non-Markovian human expert…
Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…
We study the problem of imitating an expert demonstrator in a discrete-time, continuous state-and-action control system. We show that, even if the dynamics satisfy a control-theoretic property called exponential stability (i.e. the effects…
Cross-domain imitation learning (CDIL) accelerates policy learning by transferring expert knowledge across domains, which is valuable in applications where the collection of expert data is costly. Existing methods are either supervised,…
We propose a general framework for causal Imitation Learning (IL) with hidden confounders, which subsumes several existing settings. Our framework accounts for two types of hidden confounders: (a) variables observed by the expert but not by…
In standard passive imitation learning, the goal is to learn a target policy by passively observing full execution trajectories of it. Unfortunately, generating such trajectories can require substantial expert effort and be impractical in…
In this paper, we propose a robust imitation learning (IL) framework that improves the robustness of IL when environment dynamics are perturbed. The existing IL framework trained in a single environment can catastrophically fail with…
Embodied dialogue instruction following requires an agent to complete a complex sequence of tasks from a natural language exchange. The recent introduction of benchmarks (Padmakumar et al., 2022) raises the question of how best to train and…
A fundamental assumption of reinforcement learning in Markov decision processes (MDPs) is that the relevant decision process is, in fact, Markov. However, when MDPs have rich observations, agents typically learn by way of an abstract state…
Reinforcement Learning (RL) based methods have seen their paramount successes in solving serial decision-making and control problems in recent years. For conventional RL formulations, Markov Decision Process (MDP) and state-action-value…