Related papers: SAFE-GIL: SAFEty Guided Imitation Learning for Rob…

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…

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…

Imitation learning (IL) is a learning paradigm which can be used to synthesize controllers for complex systems that mimic behavior demonstrated by an expert (user or control algorithm). Despite their popularity, IL methods generally lack…

The deployment of robots in uncontrolled environments requires them to operate robustly under previously unseen scenarios, like irregular terrain and wind conditions. Unfortunately, while rigorous safety frameworks from robust optimal…

Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we…

Understanding an agent's goals from its behavior is fundamental to aligning AI systems with human intentions. Existing goal recognition methods typically rely on an optimal goal-oriented policy representation, which may differ from the…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Behavioral cloning (BC) provides a straightforward solution to offline RL by mimicking offline trajectories via supervised learning. Recent advances (Chen et al., 2021; Janner et al., 2021; Emmons et al., 2021) have shown that by…

Standard Behavior Cloning (BC) fails to learn multimodal driving decisions, where multiple valid actions exist for the same scenario. We explore Implicit Behavioral Cloning (IBC) with Energy-Based Models (EBMs) to better capture this…

Recent imitation learning (IL) algorithms such as flow-matching and diffusion policies demonstrate remarkable performance in learning complex manipulation tasks. However, these policies often fail even when operating within their training…

Imitation learning is a class of promising policy learning algorithms that is free from many practical issues with reinforcement learning, such as the reward design issue and the exploration hardness. However, the current imitation…

Language-conditioned manipulation facilitates human-robot interaction via behavioral cloning (BC), which learns control policies from human demonstrations and serves as a cornerstone of embodied AI. Overcoming compounding errors in…

We study offline imitation learning (IL) when part of the decision-relevant state is observed only through noisy measurements and the distribution may change between training and deployment. Such settings induce spurious state-action…

Imitation Learning (IL) is a machine learning approach to learn a policy from a dataset of demonstrations. IL can be useful to kick-start learning before applying reinforcement learning (RL) but it can also be useful on its own, e.g. to…

Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…

This paper presents a novel satellite attitude control framework that integrates Soft Actor-Critic (SAC) reinforcement learning with Generative Adversarial Imitation Learning (GAIL) to achieve robust performance under various unknown…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…

We present GLAS: Global-to-Local Autonomy Synthesis, a provably-safe, automated distributed policy generation for multi-robot motion planning. Our approach combines the advantage of centralized planning of avoiding local minima with the…

Behavioural cloning has been extensively used to train agents and is recognized as a fast and solid approach to teach general behaviours based on expert trajectories. Such method follows the supervised learning paradigm and it strongly…

Learning from demonstrations is a popular approach to train AI models; however, their vulnerability to adversarial attacks remains underexplored. We present the first systematic study of adversarial attacks, across a range of both classic…