Related papers: TRAIL: Near-Optimal Imitation Learning with Subopt…
Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via…
For imitation learning algorithms to scale to real-world challenges, they must handle high-dimensional observations, offline learning, and policy-induced covariate-shift. We propose DITTO, an offline imitation learning algorithm which…
We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…
Offline imitation from observations aims to solve MDPs where only task-specific expert states and task-agnostic non-expert state-action pairs are available. Offline imitation is useful in real-world scenarios where arbitrary interactions…
Adversarial imitation learning (AIL), a prominent approach in imitation learning, has achieved significant practical success powered by neural network approximation. However, existing theoretical analyses of AIL are primarily confined to…
Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…
One of the key challenges of Reinforcement Learning (RL) is the ability of agents to generalise their learned policy to unseen settings. Moreover, training RL agents requires large numbers of interactions with the environment. Motivated by…
Adversarial Imitation Learning (AIL) is a class of algorithms in Reinforcement learning (RL), which tries to imitate an expert without taking any reward from the environment and does not provide expert behavior directly to the policy…
Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and…
Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…
Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…
Adversarial Imitation Learning (AIL) is a broad family of imitation learning methods designed to mimic expert behaviors from demonstrations. While AIL has shown state-of-the-art performance on imitation learning with only small number of…
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…
Enabling robots to learn novel visuomotor skills in a data-efficient manner remains an unsolved problem with myriad challenges. A popular paradigm for tackling this problem is through leveraging large unlabeled datasets that have many…
Reinforcement learning (RL) has achieved impressive performance in a variety of online settings in which an agent's ability to query the environment for transitions and rewards is effectively unlimited. However, in many practical…
Post-training of flow matching models-aligning the output distribution with a high-quality target-is mathematically equivalent to imitation learning. While Supervised Fine-Tuning mimics expert demonstrations effectively, it cannot correct…
Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…
Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…
Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…
Although Behavioral Cloning (BC) in theory suffers compounding errors, its scalability and simplicity still makes it an attractive imitation learning algorithm. In contrast, imitation approaches with adversarial training typically does not…