Related papers: Non-Adversarial Imitation Learning and its Connect…

We propose a novel one-step supervised imitation learning (IL) framework called Adversarial Density Regression (ADR). This IL framework aims to correct the policy learned on unknown-quality to match the expert distribution by utilizing…

Imitation learning trains a policy from expert demonstrations. Imitation learning approaches have been designed from various principles, such as behavioral cloning via supervised learning, apprenticeship learning via inverse reinforcement…

This article studies inverse reinforcement learning (IRL) for the stochastic linear-quadratic optimal control problem, where two agents are considered. A learner agent does not know the expert agent's performance cost function, but it…

Adversarial contrastive learning (ACL) is a technique that enhances standard contrastive learning (SCL) by incorporating adversarial data to learn a robust representation that can withstand adversarial attacks and common corruptions without…

Most evaluations of autonomous driving policies under adversarial conditions are conducted in simulation, due to cost efficiency and the absence of physical risk. However, purely virtual testing fails to capture structural inconsistencies,…

Adversarial training has emerged as an effective approach to train robust neural network models that are resistant to adversarial attacks, even in low-label regimes where labeled data is scarce. In this paper, we introduce a novel…

In this paper, the inverse reinforcement learning (IRL) problem is addressed to reconstruct the unknown cost function underlying an observed optimal policy in a model-free manner, whose online adaptation with completely off-policy system…

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…

We introduce a Noise-based prior Learning (NoL) approach for training neural networks that are intrinsically robust to adversarial attacks. We find that the implicit generative modeling of random noise with the same loss function used…

Imitation learning algorithms can be used to learn a policy from expert demonstrations without access to a reward signal. However, most existing approaches are not applicable in multi-agent settings due to the existence of multiple (Nash)…

Since the introduction of GAIL, adversarial imitation learning (AIL) methods attract lots of research interests. Among these methods, ValueDice has achieved significant improvements: it beats the classical approach Behavioral Cloning (BC)…

It has been a challenge to learning skills for an agent from long-horizon unannotated demonstrations. Existing approaches like Hierarchical Imitation Learning(HIL) are prone to compounding errors or suboptimal solutions. In this paper, we…

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…

Deep reinforcement learning has recently made significant progress in solving computer games and robotic control tasks. A known problem, though, is that policies overfit to the training environment and may not avoid rare, catastrophic…

Multi-Agent Reinforcement Learning (MARL) considers settings in which a set of coexisting agents interact with one another and their environment. The adaptation and learning of other agents induces non-stationarity in the environment…

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…

Adversarial Imitation Learning is traditionally framed as a two-player zero-sum game between a learner and an adversarially chosen cost function, and can therefore be thought of as the sequential generalization of a Generative Adversarial…

The growing use of virtual autonomous agents in applications like games and entertainment demands better control policies for natural-looking movements and actions. Unlike the conventional approach of hard-coding motion routines, we propose…

Adversarial Imitation Learning (AIL) allows the agent to reproduce expert behavior with low-dimensional states and actions. However, challenges arise in handling visual states due to their less distinguishable representation compared to…

Recent work has demonstrated that problems-- particularly imitation learning and structured prediction-- where a learner's predictions influence the input-distribution it is tested on can be naturally addressed by an interactive approach…