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The current landscape of multi-agent expert imitation is broadly dominated by two families of algorithms - Behavioral Cloning (BC) and Adversarial Imitation Learning (AIL). BC approaches suffer from compounding errors, as they ignore the…

There is a recent surge in interest for imitation learning, with large human video-game and robotic manipulation datasets being used to train agents on very complex tasks. While deep neuroevolution has recently been shown to match the…

Generative adversarial networks (GANs) are a framework for producing a generative model by way of a two-player minimax game. In this paper, we propose the \emph{Generative Multi-Adversarial Network} (GMAN), a framework that extends GANs to…

A new generative adversarial network is developed for joint distribution matching. Distinct from most existing approaches, that only learn conditional distributions, the proposed model aims to learn a joint distribution of multiple random…

As an effective way of metric learning, triplet loss has been widely used in many deep learning tasks, including face recognition and person-ReID, leading to many states of the arts. The main innovation of triplet loss is using feature map…

Generative adversarial network (GAN) is among the most popular deep learning models for learning complex data distributions. However, training a GAN is known to be a challenging task. This is often attributed to the lack of correlation…

Despite the remarkable success of generative adversarial networks, their performance seems less impressive for diverse training sets, requiring learning of discontinuous mapping functions. Though multi-mode prior or multi-generator models…

In this study, we address the challenge of obstacle avoidance for Unmanned Aerial Vehicles (UAVs) through an innovative composite imitation learning approach that combines Proximal Policy Optimization (PPO) with Behavior Cloning (BC) and…

Reinforcement learning (RL) provides a powerful framework for decision-making, but its application in practice often requires a carefully designed reward function. Adversarial Imitation Learning (AIL) sheds light on automatic policy…

Generative adversarial networks are generative models that are capable of replicating the implicit probability distribution of the input data with high accuracy. Traditionally, GANs consist of a Generator and a Discriminator which interact…

Conditional imitation learning (CIL) trains deep neural networks, in an end-to-end manner, to mimic human driving. This approach has demonstrated suitable vehicle control when following roads, avoiding obstacles, or taking specific turns at…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

Linear modal analysis is a useful and effective tool for the design and analysis of structures. However, a comprehensive basis for nonlinear modal analysis remains to be developed. In the current work, a machine learning scheme is proposed…

We explore methodologies to improve the robustness of generative adversarial imitation learning (GAIL) algorithms to observation noise. Towards this objective, we study the effect of local Lipschitzness of the discriminator and the…

Generative Adversarial Nets (GANs) have shown promise in image generation and semi-supervised learning (SSL). However, existing GANs in SSL have two problems: (1) the generator and the discriminator (i.e. the classifier) may not be optimal…

Recent work on imitation learning has generated policies that reproduce expert behavior from multi-modal data. However, past approaches have focused only on recreating a small number of distinct, expert maneuvers, or have relied on…

Generative adversarial networks (GANs) are one of the most widely used generative models. GANs can learn complex multi-modal distributions, and generate real-like samples. Despite the major success of GANs in generating synthetic data, they…

Imitation learning learns a policy from expert trajectories. While the expert data is believed to be crucial for imitation quality, it was found that a kind of imitation learning approach, adversarial imitation learning (AIL), can have…

Generative Adversarial Networks (GANs) are a class of generative models used for various applications, but they have been known to suffer from the mode collapse problem, in which some modes of the target distribution are ignored by the…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…