Related papers: Fail-Safe Adversarial Generative Imitation Learnin…

In many domains, autoregressive models can attain high likelihood on the task of predicting the next observation. However, this maximum-likelihood (MLE) objective does not necessarily match a downstream use-case of autoregressively…

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…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

Behavior cloning (BC) is a widely-used approach in imitation learning, where a robot learns a control policy by observing an expert supervisor. However, the learned policy can make errors and might lead to safety violations, which limits…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…

The majority of language model training builds on imitation learning. It covers pretraining, supervised fine-tuning, and affects the starting conditions for reinforcement learning from human feedback (RLHF). The simplicity and scalability…

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

Consider the problem setting of Interaction-Grounded Learning (IGL), in which a learner's goal is to optimally interact with the environment with no explicit reward to ground its policies. The agent observes a context vector, takes an…

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…

Hand-crafting generalised decision-making rules for real-world urban autonomous driving is hard. Alternatively, learning behaviour from easy-to-collect human driving demonstrations is appealing. Prior work has studied imitation learning…

End-to-end autonomous driving models trained solely with imitation learning (IL) often suffer from poor generalization. In contrast, reinforcement learning (RL) promotes exploration through reward maximization but faces challenges such as…

We propose a new framework for Imitation Learning (IL) via density estimation of the expert's occupancy measure followed by Maximum Occupancy Entropy Reinforcement Learning (RL) using the density as a reward. Our approach maximizes a…

Generative adversarial imitation learning (GAIL) is a model-free algorithm that has been shown to provide strong results in imitating complex behaviors in high-dimensional environments. In this paper, we utilize the GAIL model for text…

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…

Integrated Speech and Large Language Models (SLMs) that can follow speech instructions and generate relevant text responses have gained popularity lately. However, the safety and robustness of these models remains largely unclear. In this…

Imitation Learning (IL) aims to discover a policy by minimizing the discrepancy between the agent's behavior and expert demonstrations. However, IL is susceptible to limitations imposed by noisy demonstrations from non-expert behaviors,…

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…

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…

Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacking corrective training signals, minor execution errors…

Gradient-based saliency methods such as Vanilla Gradient (VG) and Integrated Gradients (IG) are widely used to explain image classifiers, yet the resulting maps are often noisy and unstable, limiting their usefulness in high-stakes…