Related papers: A GAN-Like Approach for Physics-Based Imitation Le…
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…
This paper introduces a new imitation learning framework based on energy-based generative models capable of learning complex, physics-dependent, robot motion policies through state-only expert motion trajectories. Our algorithm, called…
This paper describes an approach that combines generative adversarial networks (GANs) with interactive evolutionary computation (IEC). While GANs can be trained to produce lifelike images, they are normally sampled randomly from the learned…
Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…
Generative Adversarial Networks (GANs) have gained momentum for their ability to model image distributions. They learn to emulate the training set and that enables sampling from that domain and using the knowledge learned for useful…
In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…
The success of deep reinforcement learning (RL) and imitation learning (IL) in vision-based robotic manipulation typically hinges on the expense of large scale data collection. With simulation, data to train a policy can be collected…
The existing Motion Imitation models typically require expert data obtained through MoCap devices, but the vast amount of training data needed is difficult to acquire, necessitating substantial investments of financial resources, manpower,…
A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…
Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors,…
In this paper, we introduce ControlVAE, a novel model-based framework for learning generative motion control policies based on variational autoencoders (VAE). Our framework can learn a rich and flexible latent representation of skills and a…
GANs provide a framework for training generative models which mimic a data distribution. However, in many cases we wish to train these generative models to optimize some auxiliary objective function within the data it generates, such as…
Prediction of human actions in social interactions has important applications in the design of social robots or artificial avatars. In this paper, we focus on a unimodal representation of interactions and propose to tackle interaction…
GANs have two competing modules: the generator module is trained to generate new examples, and the discriminator module is trained to discriminate real examples from generated examples. The training procedure of GAN is modeled as a finitely…
Motivated by humans' ability to adapt skills in the learning of new ones, this paper presents AdaptNet, an approach for modifying the latent space of existing policies to allow new behaviors to be quickly learned from like tasks in…
Many modern methods for imitation learning and inverse reinforcement learning, such as GAIL or AIRL, are based on an adversarial formulation. These methods apply GANs to match the expert's distribution over states and actions with the…
Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…
Generative adversarial network (GAN) has gotten wide re-search interest in the field of deep learning. Variations of GAN have achieved competitive results on specific tasks. However, the stability of training and diversity of generated…
Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…
Adversarial Imitation Learning alternates between learning a discriminator -- which tells apart expert's demonstrations from generated ones -- and a generator's policy to produce trajectories that can fool this discriminator. This…