Related papers: Explaining Fast Improvement in Online Imitation Le…

In generative adversarial imitation learning (GAIL), the agent aims to learn a policy from an expert demonstration so that its performance cannot be discriminated from the expert policy on a certain predefined reward set. In this paper, we…

The ability to learn from large batches of autonomously collected data for policy improvement -- a paradigm we refer to as batch online reinforcement learning -- holds the promise of enabling truly scalable robot learning by significantly…

Following the impressive capabilities of in-context learning with large transformers, In-Context Imitation Learning (ICIL) is a promising opportunity for robotics. We introduce Instant Policy, which learns new tasks instantly (without…

Offline Imitation Learning (IL) with imperfect demonstrations has garnered increasing attention owing to the scarcity of expert data in many real-world domains. A fundamental problem in this scenario is how to extract positive behaviors…

Online reinforcement learning (RL) excels in complex, safety-critical domains but suffers from sample inefficiency, training instability, and limited interpretability. Data attribution provides a principled way to trace model behavior back…

Inverse Reinforcement Learning (IRL) has demonstrated effectiveness in a variety of imitation tasks. In this paper, we introduce an IRL framework designed to extract rewarding features from expert trajectories affected by delayed…

When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…

Inverse Reinforcement Learning (IRL) is a powerful set of techniques for imitation learning that aims to learn a reward function that rationalizes expert demonstrations. Unfortunately, traditional IRL methods suffer from a computational…

Imitation learning is a proven method for creating a policy in the absence of rewards, by leveraging expert demonstrations. In this work, we apply imitation learning to conversation. In doing so, we recover a policy capable of talking to a…

We study the problem of offline learning in automated decision systems under the contextual bandits model. We are given logged historical data consisting of contexts, (randomized) actions, and (nonnegative) rewards. A common goal is to…

This paper proposes Self-Imitation Learning (SIL), a simple off-policy actor-critic algorithm that learns to reproduce the agent's past good decisions. This algorithm is designed to verify our hypothesis that exploiting past good…

Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to…

Imitation learning (IL) has shown great success in learning complex robot manipulation tasks. However, there remains a need for practical safety methods to justify widespread deployment. In particular, it is important to certify that a…

State-of-the-art imitation learning from observation methods (ILfO) have recently made significant progress, but they still have some limitations: they need action-based supervised optimisation, assume that states have a single optimal…

Adversarial imitation learning (AIL) is a popular method that has recently achieved much success. However, the performance of AIL is still unsatisfactory on the more challenging tasks. We find that one of the major reasons is due to the low…

We consider the problem of imitation learning from a finite set of expert trajectories, without access to reinforcement signals. The classical approach of extracting the expert's reward function via inverse reinforcement learning, followed…

Recent advancements in robot learning have used imitation learning with large models and extensive demonstrations to develop effective policies. However, these models are often limited by the quantity, quality, and diversity of…

Imitation Learning (IL) algorithms offer an efficient way to train an agent by mimicking an expert's behavior without requiring a reward function. IL algorithms often necessitate access to state and action information from expert…

Imitation learning (IL) has proven to be an effective method for learning good policies from expert demonstrations. Adversarial imitation learning (AIL), a subset of IL methods, is particularly promising, but its theoretical foundation in…

One of the fundamental challenges for offline reinforcement learning (RL) is ensuring robustness to data distribution. Whether the data originates from a near-optimal policy or not, we anticipate that an algorithm should demonstrate its…